Localization of unmanned ground vehicle using 3D registration of DSM and multiview range images: Application in virtual environment

Journal of Institute of Control, Robotics and Systems

Volumn 15, Issue 7, 2009, Pages 700-710

  Park, Soon Yong ^a   Choi, Sung In ^a   Jang, Jae Seok ^a   Jung, Soon Ki ^a   Kim, Jun ^a   Chae, Jeong Sook ^a  

^a NONE

Author keywords

3D registration; Digital surface map; Localization; Range image; Robot vision; Unmaned ground vehicle

Indexed keywords

3D REGISTRATION; DIGITAL SURFACES; LOCALIZATION; RANGE IMAGES; UNMANED GROUND VEHICLES;

COMPUTER VISION; GROUND VEHICLES; INTELLIGENT VEHICLE HIGHWAY SYSTEMS; REFINING; SENSORS; TRACKING (POSITION); VIRTUAL REALITY;

THREE DIMENSIONAL;

EID: 84860685740     PISSN: 19765622     EISSN: None     Source Type: Journal    
DOI: 10.5302/J.ICROS.2009.15.7.700     Document Type: Article

References (19)

1. M. Agrawal, K. Konolige, and R. C. Bolles, "Localization and mapping for autonomous navigation in outdoor terrains a stereo vision approach," IEEE Workshop on Applications of Computer Vision, pp. 7-12, 2007.
2. K. Arun, T. Huang, and S. Bolstein, "Least-squares fitting of two 3-d point sets," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 9, no. 5, pp. 698-700, 1987.
3. P. Besl and N. McKay, "A method for registration of 3D shapes," IEEE Trans. PAMI, vol. 14, no. 2, pp. 239-256, 1992.
4. G. Blais and M. Levine, "Registering multiview range data to create 3D computer object," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 17, no. 8, 1995.
5. Y. Chen and G. Medioni, "Object modelling by registration of multiple range images," vol. 10, no. 3, pp. 145-155, 1992.
6. A. Downs, R. Madhavan, and T. Hong, "Registration of range data from unmanned aerial and ground vehicles," Proceedings of Applied Imagery Pattern Recognition Workshop, pp. 45-50, 2003.
7. A. Johnson, "Spin-images: a representation for 3-D surface matching," Ph.D. Thesis, CMU, 1997.
8. R. Katz, N. Melkumyan, J. Guivant, J. Nieto, and E. Nebot, "3D Sensing framework for outdoor navigation," Proceedigns of Australasian Conference on Robotics and Automation, 2005.
9. R. Madhavan, T. Hong, and E. Messina, "Temporal range registration for unmanned ground and aerial vehicles," Journal of Intelligent and Robotic Systems, vol. 44, no. 1, pp. 47-69, 2005.
10. R. Madhavan and E. Messina, "Iterative registration of 3d ladar data for autonomous navigation," In Proceedings of the IEEE Intelligent Vehicles Symp, pp. 186-191, 2003.
11. R. Madhavan and E. Messina, "Performance evaluation of temporal range registration for unmanned vehicle navigation," Integrated Computer-Aided Engineering, vol. 12, no. 3, pp. 291-303, 2005.
12. M. Montemerlo, S. Thrun, D. Koller, and B. Webreit, "FastSLAM: A factored solution to the simultaneous localization and mapping problem," Proceedings of the AAAI National Conference on Artificial Intelligence, 2002.
13. S. Y. Park and M. Subbarao, "An accurate and fast point-to-plane registration technique," Pattern Recognition Letter, vol. 24, no. 16, pp. 2967-2976, 2003.
14. S. Rusinkiewicz, S and M. Levoy, "Efficient variants of the ICP algorithm," Proceedings of the third International Conference on 3-D Digital Imaging and Modeling, pp. 145-152, 2001.
15. Y. Sun and M. A. Abidi, "Surface matching by 3D point's fingerprint," Proc. IEEE International Conference on Computer Vision, vol. II, pp. 263-269, 2001.
16. N. Vandapel and M. Hebert, "3D Rover localization in airborne ladar data," International Symposium on Experimental Robotics, July 2002.
17. N. Vandapel, R. Raghavendra, R. Donamukkala, and M. Hebert, "Unmanned ground vehicle navigation using aerial ladar data," The International Journal of Robotics Research, vol. 25, no. 1, pp. 31-51, 2006.
18. S. Winkelbach, M. Rilk, C. Schonfelder, and F. M. Wahl, "Fast random sample matching of 3D fragments," Pattern Recognition, LNCS, 3175, pp. 129-136, 2004.
19. A. Zhang S. Hu X. Jin, and W. Sun, "A method of merging aerial images and ground laser scans," Proceedings of International Geoscience and Remote Sensing Symposium, 2005.