3D plane-based egomotion for SLAM on semi-structured environment
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| Campo DC | Valor | Idioma |
|---|---|---|
| dc.contributor | Robótica y Visión Tridimensional (RoViT) | es |
| dc.contributor.author | Viejo Hernando, Diego | - |
| dc.contributor.author | Cazorla, Miguel | - |
| dc.contributor.other | Universidad de Alicante. Departamento de Ciencia de la Computación e Inteligencia Artificial | es |
| dc.date.accessioned | 2012-07-13T16:02:31Z | - |
| dc.date.available | 2012-07-13T16:02:31Z | - |
| dc.date.issued | 2007 | - |
| dc.identifier.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 | es |
| dc.identifier.isbn | 978-1-4244-0912-9 | - |
| dc.identifier.uri | http://hdl.handle.net/10045/23401 | - |
| dc.description.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. | es |
| dc.description.sponsorship | This work has been supported by project GV06/134 from Generalitat Valenciana (Spain) and project DPI2005-01280 from Ministerio de Educación y Ciencia (Spain). | es |
| dc.language | eng | es |
| dc.publisher | IEEE | es |
| dc.rights | © Copyright 2007 IEEE | es |
| dc.subject | 3D robot mapping | es |
| dc.subject | Plane extraction | es |
| dc.subject | Registration | es |
| dc.subject | SLAM | es |
| dc.subject.other | Ciencia de la Computación e Inteligencia Artificial | es |
| dc.title | 3D plane-based egomotion for SLAM on semi-structured environment | es |
| dc.type | info:eu-repo/semantics/conferenceObject | es |
| dc.peerreviewed | si | es |
| dc.identifier.doi | 10.1109/IROS.2007.4399138 | - |
| dc.relation.publisherversion | http://dx.doi.org/10.1109/IROS.2007.4399138 | es |
| dc.rights.accessRights | info:eu-repo/semantics/restrictedAccess | es |
| Aparece en las colecciones: | INV - RoViT - Comunicaciones a Congresos, Conferencias, etc. | |
Archivos en este ítem:
| Archivo | Descripción | Tamaño | Formato | |
|---|---|---|---|---|
 2007_Cazorla_etal_IROS.pdf | Versión revisada (acceso abierto) | 3,09 MB | Adobe PDF | Abrir Vista previa |
 2007_Cazorla_etal_IROS_final.pdf | Versión final (acceso restringido) | 689,23 kB | Adobe PDF | Abrir Solicitar una copia |
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