3D plane-based egomotion for SLAM on semi-structured environment
| Contribuinte(s) |
Universidad de Alicante. Departamento de Ciencia de la Computación e Inteligencia Artificial Robótica y Visión Tridimensional (RoViT) |
|---|---|
| Data(s) |
13/07/2012
13/07/2012
2007
|
| Resumo |
Several works deal with 3D data in SLAM problem. Data come from a 3D laser sweeping unit or a stereo camera, both providing a huge amount of data. In this paper, we detail an efficient method to extract planar patches from 3D raw data. Then, we use these patches in an ICP-like method in order to address the SLAM problem. Using ICP with planes is not a trivial task. It needs some adaptation from the original ICP. Some promising results are shown for outdoor environment. This work has been supported by project GV06/134 from Generalitat Valenciana (Spain) and project DPI2005-01280 from Ministerio de Educación y Ciencia (Spain). |
| Identificador |
VIEJO, Diego; CAZORLA, Miguel. "3D plane-based egomotion for SLAM on semi-structured environment". En: Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems : San Diego, CA, USA, Oct 29-Nov 2, 2007. Piscataway, N.J. : IEEE, 2007. ISBN 978-1-4244-0912-9, pp. 2761-2766 978-1-4244-0912-9 http://hdl.handle.net/10045/23401 10.1109/IROS.2007.4399138 |
| Idioma(s) |
eng |
| Publicador |
IEEE |
| Relação |
http://dx.doi.org/10.1109/IROS.2007.4399138 |
| Direitos |
© Copyright 2007 IEEE info:eu-repo/semantics/restrictedAccess |
| Palavras-Chave | #3D robot mapping #Plane extraction #Registration #SLAM #Ciencia de la Computación e Inteligencia Artificial |
| Tipo |
info:eu-repo/semantics/conferenceObject |
