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Global Localization Based on 3D Planar Surface Segments (CROSBI ID 600153)

Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija

Cupec, Robert ; Nyarko, Emmanuel Karlo ; Filko, Damir ; Kitanov, Andrej ; Petrović, Ivan Global Localization Based on 3D Planar Surface Segments // Proceedings of The Croatian Computer Vision Workshop, Year 1 / Lončarić, Sven ; Šegvić, Siniša (ur.). Zagreb: Fakultet elektrotehnike i računarstva Sveučilišta u Zagrebu, 2013. str. 31-36

Podaci o odgovornosti

Cupec, Robert ; Nyarko, Emmanuel Karlo ; Filko, Damir ; Kitanov, Andrej ; Petrović, Ivan

engleski

Global Localization Based on 3D Planar Surface Segments

Global localization of a mobile robot using planar surface segments extracted from depth images is considered. The robot’s environment is represented by a topological map consisting of local models, each representing a particular location modeled by a set of planar surface segments. The discussed localization approach segments a depth image acquired by a 3D camera into planar surface segments which are then matched to model surface segments. The robot pose is estimated by the Extended Kalman Filter using surface segment pairs as measurements. The reliability and accuracy of the considered approach are experimentally evaluated using a mobile robot equipped by a Microsoft Kinect sensor.

global localization; planar surfaces; Kinect; Extended Kalman Filter

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Podaci o prilogu

31-36.

2013.

objavljeno

Podaci o matičnoj publikaciji

Proceedings of The Croatian Computer Vision Workshop, Year 1

Lončarić, Sven ; Šegvić, Siniša

Zagreb: Fakultet elektrotehnike i računarstva Sveučilišta u Zagrebu

Podaci o skupu

2nd Croatian Computer Vision Workshop CCVW 2013

poster

19.09.2013-19.09.2013

Zagreb, Hrvatska

Povezanost rada

Računarstvo

Poveznice