3D plane-based egomotion for SLAM on semi-structured environment
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http://hdl.handle.net/10045/23401
| Title: | 3D plane-based egomotion for SLAM on semi-structured environment |
|---|---|
| Authors: | Viejo Hernando, Diego | Cazorla, Miguel |
| Research Group/s: | Robótica y Visión Tridimensional (RoViT) |
| Center, Department or Service: | Universidad de Alicante. Departamento de Ciencia de la Computación e Inteligencia Artificial |
| Keywords: | 3D robot mapping | Plane extraction | Registration | SLAM |
| Knowledge Area: | Ciencia de la Computación e Inteligencia Artificial |
| Issue Date: | 2007 |
| Publisher: | IEEE |
| Citation: | 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 |
| Abstract: | 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. |
| Sponsor: | This work has been supported by project GV06/134 from Generalitat Valenciana (Spain) and project DPI2005-01280 from Ministerio de Educación y Ciencia (Spain). |
| URI: | http://hdl.handle.net/10045/23401 |
| ISBN: | 978-1-4244-0912-9 |
| DOI: | 10.1109/IROS.2007.4399138 |
| Language: | eng |
| Type: | info:eu-repo/semantics/conferenceObject |
| Rights: | © Copyright 2007 IEEE |
| Peer Review: | si |
| Publisher version: | http://dx.doi.org/10.1109/IROS.2007.4399138 |
| Appears in Collections: | INV - RoViT - Comunicaciones a Congresos, Conferencias, etc. |
Files in This Item:
| File | Description | Size | Format | |
|---|---|---|---|---|
 2007_Cazorla_etal_IROS.pdf | Versión revisada (acceso abierto) | 3,09 MB | Adobe PDF | Open Preview |
 2007_Cazorla_etal_IROS_final.pdf | Versión final (acceso restringido) | 689,23 kB | Adobe PDF | Open Request a copy |
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