Robust place recognition for 3D range data based on point features

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2010, Pages 1400-1405

  Steder, Bastian ^a   Grisetti, Giorgio ^a   Burgard, Wolfram ^a  

^a UNIVERSITY OF FREIBURG   (Germany)

Author keywords

Loop closing; Place recognition; Point clouds; Range images; Range sensing; SLAM

Indexed keywords

LOOP CLOSING; PLACE RECOGNITION; POINT CLOUD; RANGE IMAGES; RANGE SENSING; SLAM;

CLOUDS; COMPUTER VISION; ROBOTICS; ROBOTS;

THREE DIMENSIONAL;

EID: 77955803543     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2010.5509401     Document Type: Conference Paper

References (15)

1. Dataset of 360° 3D scans of the Faculty of Engineering, University of Freiburg, Germany. http://ais.informatik.uni-freiburg.de/projects/datasets/ fr360.
2. Hanover2 dataset. http://kos.informatik.uni-osnabrueck.de/3Dscans.
3. H. Bay, T. Tuytelaars, and L. Van Gool. SURF: Speeded up robust features. In Proc. of the Europ. Conf. on Comp. Vision (ECCV), 2006.
4. M. Bosse and R. Zlot. Map matching and data association for large-scale two-dimensional laser scan-based slam. International Journal of Robotics Research, 27(6):667-691, 2008.
5. M. Cummins and P. Newman. Highly scalable appearance-only SLAM FAB-MAP 2.0. In Proc. of Robotics Science and Systems (RSS), 2009.
6. K. Granström, J. Callmer, F. Ramos, and J. Nieto. Learning to detect loop closure from range data. In Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), 2009.
7. G. Grisetti, C. Stachniss, and W. Burgard. Non-linear constraint network optimization for efficient map learning. 2009. In press.
8. C. Harris and M. Stephens. A combined corner and edge detector. In Proceedings of The Fourth Alvey Vision Conference, 1988.
9. B. K. P. Horn. Closed-form solution of absolute orientation using unit quaternions. Journal of the Optical Society of America. A, 4(4):629-642, Apr 1987.
10. D. Huber. Automatic Three-dimensional Modeling from Reality. PhD thesis, Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, December 2002.
11. A.E. Johnson and M. Hebert. Using spin images for efficient object recognition in cluttered 3d scenes. IEEE Trans. Pattern Anal. Mach. Intell., 21(5):433-449, 1999.
12. T. Lindeberg. Feature detection with automatic scale selection. International Journal of Computer Vision, 30(2):77-116, 1998.
13. D.G. Lowe. Object recognition from local scale-invariant features. In Proc. of the Int. Conf. on Computer Vision (ICCV), 1999.
14. M. Magnusson, H. Andreasson, A. Nüchter, and A.J. Lilienthal. Appearance-based loop detection from 3D laser data using the normal distributions transform. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 23-28, 2009.
15. B. Steder, G. Grisetti, M. Van Loock, and W. Burgard. Robust online model-based object detection from range images. In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS), 2009.