Dense 3D map building based on LRF data and color image fusion

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Volumn , Issue , 2005, Pages 2792-2797

  Ohno, Kazunori ^a   Tadokoro, Satoshi ^a  

^a TOHOKU UNIVERSITY   (Japan)

Author keywords

Dense 3D map; ICP; LRF; SLAM on rubble; Space carving

Indexed keywords

IMAGE FUSION; MOTION ESTIMATION; TEXTURES;

3D MAP BUILDING; COLOR IMAGE FUSIONS; ICP ALGORITHMS; MATCHING METHODS; RESEARCH OBJECTIVES; SLAM ON RUBBLE; SPACE CARVINGS; TEXTURE IMAGE;

INTELLIGENT ROBOTS;

EID: 79958019198     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2005.1545235     Document Type: Conference Paper

References (14)

1. J. Leonard, J. D. Tardos, S. Thrun and H. Choset eds., "Workshop Notes of the ICRA Workshop on Concurrent Mapping and Localization for Autonomous Mobile Robots," ICRA, 2002.
2. S. Thrun, M. Diel, D. Hahnel, "Scan Alignment and 3-D Surface Modeling with a Helicopter Platform," The 4th International Conference on Field and Service Robotics, 2003.
3. H. Baltzakis, P. Trahanias, "Closing Multiple Loops while Mapping Features in Cyclic Environments," Int. Conf. on Intelligent Robots and Systems, pp. 717-pp. 722, 2003.
4. C. C. Wang, C. Thorpe, S. Thrun, "Online Simultaneous Localization And Mapping with Detection And Tracking of Moving Objects: Theory and Results from a Ground Vehicle i Crowded Urban Areas," Proc. of ICRA, 2003.
5. D. Hähnel, R. Triebet, W. Burgard, S. Thrun, "Map Building with Mobile Robots in Dynamic Environments," Proc. of ICRA, 2003.
6. J. Guivant, E. Bebot, "Improving Computational and Memory Requirements of Simultaneous Localization and Map Building Algorithms," Proc. of IEEE Int'l Conference on Robotics and Automation, pp. 2731- pp. 2736, 2002. (Pubitemid 34916300)
7. K. Ohno, T. Tsubouchi and S. Yuta, "Outdoor Map Building Based on Odometry and RTK-GPS Positioning Fusion," Proc. of ICRA, pp. 687- pp. 690, 2004.
8. H. Ishida, K. Nagatani and Y. Tanaka, "Three-Dimensional Localization and Mapping for a Crawler-type Mobile Robot in an Occluded Area Using the Scan Matching Method," Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 449-pp. 454, 2004. (Pubitemid 40275640)
9. A. Nuchter, H. Surmann, K. Lingemann, J.Hertzberg and S.Thrun, "6D SLAM with an Application in Autonomous Mine Mapping," Proc. of ICRA 2004, pp. - pp., 2004.
10. K. N. Kutulakos and S. M. Seitz, "A Theory of Shape by Space Carving," IJCV, 38(3), pp. 198-pp. 218, 2000.
11. A. Broadhurst and R. Cipolla, "A Statistical Consistency Check for the Space Carving Algorithm," Proc. 11th British Machine Vision Conf., pp. 282-pp. 291, 2000.
12. K. Yamazki, M. Tomono, T. Tsubouchi and S. Yuta, "3-D Object Modeling by a Camera Equipped on Mobile Robot," Proc. of ICRA 2004, pp. 1399-pp. 1404, 2004.
13. Z. Zhang, "Iterative Point Matching for Registration of Free-Form Curves," INRIA Rapports de Recherche, No. 1658, Programme 4, Robotique, Image et Vision, 1992.
14. M. W. Walker, L. Shao and R. A. Volz, "Estimating 3-D location parameters using dual number quaternions," CVGIP:Image Understanding, vol. 54, pp. 358-pp. 367, November 1991.