Scene structure registration for localization and mapping
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- 作者：Eduardo Ferná ; ndez-Morala ; eduardo.fernandez-moral@inria.fr" class="auth_mail" title="E-mail the corresponding authorAuthor Vitae ; Patrick RivesaAuthor Vitae ; Vicente Aré ; valobAuthor Vitae ; Javier Gonzá ; lez-Jimé ; nezbAuthor Vitae
- 关键词：Scene registration ; Scene recognition ; Localization ; Mapping ; Planar segmentation
- 刊名：Robotics and Autonomous Systems
- 出版年：2016
- 出版时间：January 2016
- 年：2016
- 卷：75
- 期：part_PB
- 页码：649-660
- 全文大小：2691 K
文摘
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A geometric representation based on planar patches is proposed for scene registration.
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Photometric information is combined with the geometric description for robustness.
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A novel formulation encoding uncertainty information is proposed to improve accuracy.
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An implementation of this work is freely available (MRPT and PCL).