Active stereo based compact mapping

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Title: Active stereo based compact mapping
Authors: Viejo Hernando, Diego | Sáez Martínez, Juan Manuel | Cazorla, Miguel | Escolano, Francisco
Research Group/s: Robot Vision Group
Center, Department or Service: Universidad de Alicante. Departamento de Ciencia de la Computación e Inteligencia Artificial
Keywords: Active stereo | Compact mapping | SLAM | Mesh generation
Knowledge Area: Ciencia de la Computación e Inteligencia Artificial
Date Created: 2005
Issue Date: 2005
Publisher: Institute of Electrical and Electronics Engineers
Citation: VIEJO HERNANDO, Diego, et al. “Active stereo based compact mapping”. En: 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems : Edmonton, AB, Canada, 2-6 August 2005. Piscataway, N.J. : IEEE, 2005. ISBN 0-7803-8912-3, pp. 529-534
Abstract: In this paper we propose a method for extracting the planes from a 3D dense map. Three-dimensional data is acquired using active stereo in order to fill texture gaps which are typical in indoor environments. Then, a randomized SLAM algorithm recently proposed by the authors is applied to compute the 3D map by tele-operating a mobile robot. A 3D mesh generation algorithm, specially designed to triangulate not solids but open objects, is the basis for computing the main planes in the map after clustering the normals of the vertices in the mesh. Finally, we present our experimental results in indoor environments.
Sponsor: This research is partially funded by the project TIC2002-02792 of the Spanish Government.
ISBN: 0-7803-8912-3
DOI: 10.1109/IROS.2005.1545121
Language: eng
Type: info:eu-repo/semantics/article
Peer Review: si
Appears in Collections:INV - RVG - Comunicaciones a Congresos, Conferencias, etc.
INV - RoViT - Comunicaciones a Congresos, Conferencias, etc.
INV - MVRLab - Comunicaciones a Congresos, Conferencias, etc.

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