Viejo Hernando, Diego, Cazorla, Miguel
3D Feature Extraction and Modelling for SLAM
URI: http://hdl.handle.net/10045/34240
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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.
Keywords:3D Feature extraction, 3D Modelling, SLAM
info:eu-repo/semantics/conferenceObject