3D plane-based egomotion for SLAM on semi-structured environment

Please use this identifier to cite or link to this item: http://hdl.handle.net/10045/23401
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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.

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