Active stereo based compact mapping
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http://hdl.handle.net/10045/1776
Title: | Active stereo based compact mapping |
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Authors: | Viejo Hernando, Diego | Sáez Martínez, Juan Manuel | Cazorla, Miguel | Escolano, Francisco |
Research Group/s: | Robot Vision Group |
Center, Department or Service: | Universidad de Alicante. Departamento de Ciencia de la Computación e Inteligencia Artificial |
Keywords: | Active stereo | Compact mapping | SLAM | Mesh generation |
Knowledge Area: | Ciencia de la Computación e Inteligencia Artificial |
Date Created: | 2005 |
Issue Date: | 2005 |
Publisher: | Institute of Electrical and Electronics Engineers |
Citation: | VIEJO HERNANDO, Diego, et al. “Active stereo based compact mapping”. En: 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems : Edmonton, AB, Canada, 2-6 August 2005. Piscataway, N.J. : IEEE, 2005. ISBN 0-7803-8912-3, pp. 529-534 |
Abstract: | In this paper we propose a method for extracting the planes from a 3D dense map. Three-dimensional data is acquired using active stereo in order to fill texture gaps which are typical in indoor environments. Then, a randomized SLAM algorithm recently proposed by the authors is applied to compute the 3D map by tele-operating a mobile robot. A 3D mesh generation algorithm, specially designed to triangulate not solids but open objects, is the basis for computing the main planes in the map after clustering the normals of the vertices in the mesh. Finally, we present our experimental results in indoor environments. |
Sponsor: | This research is partially funded by the project TIC2002-02792 of the Spanish Government. |
URI: | http://hdl.handle.net/10045/1776 |
ISBN: | 0-7803-8912-3 |
DOI: | 10.1109/IROS.2005.1545121 |
Language: | eng |
Type: | info:eu-repo/semantics/article |
Peer Review: | si |
Appears in Collections: | INV - RVG - Comunicaciones a Congresos, Conferencias, etc. INV - RoViT - Comunicaciones a Congresos, Conferencias, etc. INV - MVRLab - Comunicaciones a Congresos, Conferencias, etc. |
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