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Scene Structure Registration for Localization and Mapping
| Type of publication: | Article |
| Citation: | |
| Journal: | Robotics and Autonomous Systems |
| Volume: | 75 (Part B) |
| Year: | 2016 |
| Month: | jan |
| Pages: | 649--660 |
| DOI: | doi:10.1016/j.robot.2015.09.009 |
| Abstract: | Image registration, and more generally scene registration, needs to be solved in mobile robotics for a number of tasks including localization, mapping, object recognition, visual odometry and loop-closure. This paper presents a flexible strategy to register scenes based on its planar structure, which can be used with different sensors that acquire 3D data like LIDAR, time-of-flight cameras, RGB-D sensors and stereo vision. The proposed strategy is based on the segmentation of the planar surfaces from the scene, and its representation using a graph which stores the geometric relationships between neighbouring planar patches. Uncertainty information from the planar patches is exploited in a hierarchical fashion to improve both the robustness and the efficiency of registration. Quick registration is achieved in indoor structured scenarios, offering advantages like a compact representation, and flexibility to adapt to different environments and sensors. Our method is validated with different sensors: a hand-held RGB-D camera and an omnidirectional RGB-D sensor; and for different applications: from visual-range odometry to loop closure and SLAM. |
| Userfields: | img_url=http%3A%2F%2Fmapir.isa.uma.es%2Fvarevalo%2Fdrafts%2Ffernandez2016ras.png,rank_indexname=JCR%202016,rank_pos_in_category=60,rank_num_in_category=133,rank_cat_name=COMPUTER%20SCIENCE%2C%20ARTIFICIAL%20INTELLIGENCE,impact_factor=1.950 |
| Keywords: | |
| Authors | |
| Added by: | [ADM] |
| Total mark: | 0 |
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