Fast plane detection for SLAM from noisy range images in both structured and unstructured environments

2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011

Volumn , Issue , 2011, Pages 1768-1773

  Xiao, Junhao ^a   Zhang, Jianhua ^a   Zhang, Jianwei ^a   Zhang, Houxiang ^b   Hildre, Hans Petter ^b  

^a UNIVERSITY OF HAMBURG   (Germany)

^b NORWEGIAN UNIVERSITY OF SCIENCE AND TECHNOLOGY   (Norway)

Author keywords

3D feature extraction; Plane detection; SLAM

Indexed keywords

3-D FEATURE EXTRACTION; 3D PLANES; GRID-BASED; LOCAL SHAPE; MEAN SQUARE; NEIGHBORHOOD INFORMATION; NOVEL ALGORITHM; PLANAR GRIDS; PLANE DETECTION; PLANE FITTING; POINT CLOUD; RANGE IMAGES; REGION GROWING; REGION GROWING ALGORITHM; SEED SELECTION; SIMULTANEOUS LOCALIZATION AND MAPPING; SLAM; STRUCTURED ENVIRONMENT; UNSTRUCTURED ENVIRONMENTS;

ALGORITHMS; FEATURE EXTRACTION; IMAGE SEGMENTATION; THREE DIMENSIONAL;

ROBOTICS;

EID: 81055126903     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICMA.2011.5986247     Document Type: Conference Paper

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