3D Feature Extraction and Modelling for SLAM
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http://hdl.handle.net/10045/34240
| Title: | 3D Feature Extraction and Modelling for SLAM |
|---|---|
| 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 Feature extraction | 3D Modelling | SLAM |
| Knowledge Area: | Ciencia de la Computación e Inteligencia Artificial |
| Issue Date: | Oct-2008 |
| Abstract: | Several works deal with 3D data in mobile robotic problems. Data come from any kind of sensor providing a huge amount of unorganized 3D data. In this paper we detail an efficient method to build complete 3D models including planar surfaces and creases from a 3D scene. This information can be used to compute the movement performed by a mobile robot by means of a 3D models registration algorithm. Some promising results are shown for both outdoor and indoor environments. |
| Description: | Paper submitted to the 39th International Symposium on Robotics ISR 2008, Seoul, South Korea, October 15-17, 2008. |
| Sponsor: | This work has been supported by project DPI2005-01280 from Ministerio de Educación y Ciencia (Spain). |
| URI: | http://hdl.handle.net/10045/34240 |
| Language: | eng |
| Type: | info:eu-repo/semantics/conferenceObject |
| Rights: | Licencia Creative Commons Reconocimiento 4.0 |
| Peer Review: | si |
| Appears in Collections: | INV - RoViT - Comunicaciones a Congresos, Conferencias, etc. |
Files in This Item:
| File | Description | Size | Format | |
|---|---|---|---|---|
 isr2008.pdf | 3,5 MB | Adobe PDF | Open Preview | |
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