Outdoor 3D map generation based on planar feature for autonomous vehicle navigation in urban environment

IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Volumn , Issue , 2010, Pages 1526-1531

  Kagami, Satoshi ^a   Hanai, Ryo ^a   Hatao, Naotaka ^a   Inaba, Masayuki ^a  

^a UNIVERSITY OF TOKYO   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

AUTONOMOUS VEHICLE NAVIGATION; AUTONOMOUS VEHICLES; GPS SIGNALS; LASER SCANNER; MAP GENERATION; OBSTACLE DETECTION; ON-BODY; PATH FOLLOWING; SHORT CYCLE; TRANSFORMATION MATRICES; URBAN ENVIRONMENTS; URBAN OUTDOOR;

INTELLIGENT ROBOTS; LASER APPLICATIONS; LINEAR TRANSFORMATIONS; NAVIGATION; OBSTACLE DETECTORS; SCANNING;

THREE DIMENSIONAL;

EID: 78651502691     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2010.5653687     Document Type: Conference Paper

References (17)

1. S. Thompson, S. Kagami, and K. Nishiwaki, "Localisation for autonomous humanoid navigation," in Proceedings of 2006 6th IEEE-RAS International Conference on Humanoid Robots(Humanoids2006), December 2006, pp. 13-19.
2. C. Tomasi and T. Kanade, "Shape and motion from image streams under orthography: a factorization method," International Journal of Computer Vision, vol. 9, no. 2, pp. 137-154, 1992.
3. B. Triggs, P. Mclauchlan, R. Hartley, and A. Fitzgibbon, "Bundle adjustment - a modern synthesis," in Vision Algorithms: Theory and Practice, LNCS. Springer Verlag, 2000, pp. 298-375.
4. S. I. D. Forsyth and J. Haddon, "Bayesian structure from motion," in Proceedings of the International Conference on Computer Vision (ICCV), 1999, pp. 660-665.
5. F. Dellaert, S. Seitz, C. Thorpe, and S. Thrun, "Structure from motion without correspondence," in IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'00), June 2000.
6. A. Kelly, O. Amidi, M. Bode, M. Happold, H. Herman, T. Pilarski, P. Rander, A. Stentz, N. Vallidis, and R. Warner, "Toward Reliable Off Road Autonomous Vehicles Operating in Challenging Environments," in Proc. of 9th International Symposium on Exprimental Robotics, 2004.
7. M. Montemerlo and S. Thrun, "Large-Scale Robotic 3-D Mapping of Urban Structures," in Proc. of 9th International Symposium on Exprimental Robotics, 2004.
8. M. Tomono, "3d object modeling and segmentation using edge points with sift descriptors," in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008), Sep. 2008, pp. 4195-4200.
9. O. Faugeras and M. Herbert, "The representation, recognition, and locating of 3-d objects," International Journal of Robotics Research, vol. 5, no. 3, pp. 27-52, 1986.
10. F. Stein and G. Medioni, "Structural indexing: Efficient 3-d object recognition," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 14, no. 2, pp. 125-145, 1992.
11. A. Howard, D. F. Wolf, and G. S. Sukhatme, "Towards autonomous 3d mapping in urban environments," in In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '04, 2004, pp. 419-424.
12. B. K.P.Horn, "Closed-form solution of absolute orientation using unit quaternions," Optical Society of America A, vol. 4, Apr 1987.
13. J. W. Weingarten, G. Gruener, and R. Siegwart, "Probabilistic plane fitting in 3d and an application to robotic mapping," in 2004 IEEE International Conference on Robotics and Automation (ICRA 2004), 2004, pp. 927-932.
14. D. W. Marquardt, "An algorithm for least-squares estimation of nonlinear parameters," SIAM Journal on Applied Mathematics, vol. 11, no. 2, pp. 431-441, 1963.
15. M. Yamaoka, "Mobility robot," in Spring Congress 2008, Society of Automotive Engineers of Japan, 2008.
16. N. Tomokuni, M. Shino, and M. Kamata, "Improving stability for a two-leg-wheeled inverted-pendulum-type vehicle equipped with a slider," in Proceedings of 17th Annual Conference on Japan Socity of Mechanical Engineering, Transportation and Logistics Division, 2008, pp. 373-376.
17. N. Hatao, R. Hanai, K. Yamazaki, and M. Inaba, in Proceedings of 15th IEEE International Symposium on Robot and Human Interactive Communication (ROMAN2009), 2009.