3D Maps Representation Using GNG

Please use this identifier to cite or link to this item: http://hdl.handle.net/10045/42641
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Title: 3D Maps Representation Using GNG
Authors: Morell, Vicente | Cazorla, Miguel | Orts-Escolano, Sergio | Garcia-Rodriguez, Jose
Research Group/s: Robótica y Visión Tridimensional (RoViT) | Informática Industrial y Redes de Computadores
Center, Department or Service: Universidad de Alicante. Departamento de Ciencia de la Computación e Inteligencia Artificial | Universidad de Alicante. Departamento de Tecnología Informática y Computación | Universidad de Alicante. Instituto Universitario de Investigación Informática
Keywords: 3D maps representation | GNG
Knowledge Area: Ciencia de la Computación e Inteligencia Artificial | Arquitectura y Tecnología de Computadores
Issue Date: 27-Aug-2014
Publisher: Hindawi Publishing Corporation
Citation: Mathematical Problems in Engineering. Volume 2014 (2014), Article ID 972304, 11 pages. doi:10.1155/2014/972304
Abstract: Current RGB-D sensors provide a big amount of valuable information for mobile robotics tasks like 3D map reconstruction, but the storage and processing of the incremental data provided by the different sensors through time quickly become unmanageable. In this work, we focus on 3D maps representation and propose the use of the Growing Neural Gas (GNG) network as a model to represent 3D input data. GNG method is able to represent the input data with a desired amount of neurons or resolution while preserving the topology of the input space. Experiments show how GNG method yields a better input space adaptation than other state-of-the-art 3D map representation methods.
Sponsor: This work was partially funded by the Spanish Government DPI2013-40534-R grant.
URI: http://hdl.handle.net/10045/42641
ISSN: 1024-123X (Print) | 1563-5147 (Online)
DOI: 10.1155/2014/972304
Language: eng
Type: info:eu-repo/semantics/article
Rights: © 2014 Vicente Morell et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Peer Review: si
Publisher version: http://dx.doi.org/10.1155/2014/972304
Appears in Collections:INV - I2RC - Artículos de Revistas
INV - RoViT - Artículos de Revistas

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