کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
10326751 679567 2016 12 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Scene structure registration for localization and mapping
ترجمه فارسی عنوان
ثبت نام ساختار صحنه برای محلی سازی و نقشه برداری
کلمات کلیدی
ثبت نام صحنه، تشخیص صحنه، بومی سازی، نقشه برداری، تقسیم ورقه ای،
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
چکیده انگلیسی
Image registration, and more generally scene registration, needs to be solved in mobile robotics for a number of tasks including localization, mapping, object recognition, visual odometry and loop-closure. This paper presents a flexible strategy to register scenes based on its planar structure, which can be used with different sensors that acquire 3D data like LIDAR, time-of-flight cameras, RGB-D sensors and stereo vision. The proposed strategy is based on the segmentation of the planar surfaces from the scene, and its representation using a graph which stores the geometric relationships between neighbouring planar patches. Uncertainty information from the planar patches is exploited in a hierarchical fashion to improve both the robustness and the efficiency of registration. Quick registration is achieved in indoor structured scenarios, offering advantages like a compact representation, and flexibility to adapt to different environments and sensors. Our method is validated with different sensors: a hand-held RGB-D camera and an omnidirectional RGB-D sensor; and for different applications: from visual-range odometry to loop closure and SLAM.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 75, Part B, January 2016, Pages 649-660
نویسندگان
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