3D model based map building
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http://hdl.handle.net/10045/23388
Títol: | 3D model based map building |
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Autors: | Viejo Hernando, Diego | Cazorla, Miguel |
Grups d'investigació o GITE: | Robótica y Visión Tridimensional (RoViT) |
Centre, Departament o Servei: | Universidad de Alicante. Departamento de Ciencia de la Computación e Inteligencia Artificial |
Paraules clau: | Computer vision | Mobile robotics |
Àrees de coneixement: | Ciencia de la Computación e Inteligencia Artificial |
Data de publicació: | de setembre-2008 |
Resum: | 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 a 3D model from raw data. Each model includes planar patches that belong to planar surfaces on the real scene. Then, we use these models in an ICP-like method in order to compute the robot movement. Once we know the movement performed by the robot, we can build a 3D environment map. Using ICP with planes is not a trivial task. It needs some adaptation from the original ICP. Some promising results in 6DoF are shown for both indoor and outdoor environment and for different kinds of 3D sensors. |
Descripció: | Comunicación presentada en el IX Workshop de Agentes Físicos (WAF'2008), Vigo, 11-12 septiembre 2008. |
Patrocinadors: | This work has been supported by project DPI2005-01280 from Ministerio de Educación y Ciencia (Spain). |
URI: | http://hdl.handle.net/10045/23388 |
Idioma: | eng |
Tipus: | info:eu-repo/semantics/conferenceObject |
Revisió científica: | si |
Apareix a la col·lecció: | INV - RoViT - Comunicaciones a Congresos, Conferencias, etc. |
Arxius per aquest ítem:
Arxiu | Descripció | Tamany | Format | |
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2008_Viejo_Cazorla_Workshop_Agentes_Fisicos_Vigo.pdf | 5,1 MB | Adobe PDF | Obrir Vista prèvia | |
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