3D Feature Extraction and Modelling for SLAM

Please use this identifier to cite or link to this item: http://hdl.handle.net/10045/34240
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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.

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