Cupec et al., 2013 - Google Patents

Global localization based on 3D planar surface segments

Cupec et al., 2013

View PDF
Document ID
7593165389556003250
Author
Cupec R
Nyarko E
Filko D
Kitanov A
Petrović I
Publication year
Publication venue
arXiv preprint arXiv:1310.0314

External Links

Snippet

Global localization of a mobile robot using planar surface segments extracted from depth images is considered. The robot's environment is represented by a topological map consisting of local models, each representing a particular location modeled by a set of …
Continue reading at arxiv.org (PDF) (other versions)

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20112—Image segmentation details
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06K—RECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00—Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/36—Image preprocessing, i.e. processing the image information without deciding about the identity of the image
    • G06K9/46—Extraction of features or characteristics of the image
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06K—RECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00—Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/62—Methods or arrangements for recognition using electronic means
    • G06K9/6201—Matching; Proximity measures
    • G06K9/6202—Comparing pixel values or logical combinations thereof, or feature values having positional relevance, e.g. template matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
    • G01S3/782—Systems for determining direction or deviation from predetermined direction
    • G01S3/785—Systems for determining direction or deviation from predetermined direction using adjustment of orientation of directivity characteristics of a detector or detector system to give a desired condition of signal derived from that detector or detector system
    • G01S3/786—Systems for determining direction or deviation from predetermined direction using adjustment of orientation of directivity characteristics of a detector or detector system to give a desired condition of signal derived from that detector or detector system the desired condition being maintained automatically, i.e. tracking systems
    • G01S3/7864—T.V. type tracking systems
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformation in the plane of the image, e.g. from bit-mapped to bit-mapped creating a different image
    • G06T3/0068—Geometric image transformation in the plane of the image, e.g. from bit-mapped to bit-mapped creating a different image for image registration, e.g. elastic snapping

Similar Documents

Publication Publication Date Title
Winterhalter et al. Accurate indoor localization for RGB-D smartphones and tablets given 2D floor plans
Zhang et al. Visual-lidar odometry and mapping: Low-drift, robust, and fast
Munoz-Banón et al. Targetless camera-LiDAR calibration in unstructured environments
Wangsiripitak et al. Avoiding moving outliers in visual SLAM by tracking moving objects
Boniardi et al. Robot localization in floor plans using a room layout edge extraction network
Lin et al. Stereo-based simultaneous localization, mapping and moving object tracking
Lim et al. Real-time single camera SLAM using fiducial markers
Iocchi et al. Self-localization in the RoboCup environment
Avgeris et al. Single vision-based self-localization for autonomous robotic agents
Jeong et al. Linear four-point LiDAR SLAM for Manhattan world environments
JPH07103715A (en) Method and apparatus for recognizing three-dimensional position and attitude based on visual sense
Donoso-Aguirre et al. Mobile robot localization using the Hausdorff distance
Peng et al. IDMF-VINS: Improving visual-inertial SLAM for complex dynamic environments with motion consistency and feature filtering
Cupec et al. Global localization based on 3D planar surface segments
Melbouci et al. Model based rgbd slam
Lee et al. A novel method for estimating the heading angle for a home service robot using a forward-viewing mono-camera and motion sensors
Leishman et al. Robust Motion Estimation with RBG-D Cameras
Saeedi et al. 3D localization and tracking in unknown environments
Yang et al. Moving target tracking and measurement with a binocular vision system
Ren An improved binocular LSD_SLAM method for object localization
Shaik et al. 2D localization in large areas using inexpensive rgbd camera augmented with visual tags
Aranda et al. Omnidirectional visual homing using the 1D trifocal tensor
Wang et al. Combination of the ICP and the PSO for 3D-SLAM
Baligh Jahromi et al. Layout slam with model based loop closure for 3d indoor corridor reconstruction
Zhang et al. Polar-Cartesian Hybrid Transforms: A novel 2D range scan registration algorithm