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Pregled bibliografske jedinice broj: 644236

Zbornik radova

Autori: Cupec, Robert; Nyarko, Emmanuel Karlo; Filko, Damir; Kitanov, Andrej; Petrović, Ivan
Naslov: Global Localization Based on 3D Planar Surface Segments
Izvornik: Proceedings of The Croatian Computer Vision Workshop, Year 1 / Lončarić, Sven ; Šegvić, Siniša (ur.). - Zagreb : University of Zagreb Faculty of Electrical Engineering and Computing , 2013. 31-36.
Skup: 2nd Croatian Computer Vision Workshop (CCVW 2013)
Mjesto i datum: Zagreb, Croatia, 19.09.2013
Ključne riječi: global localization; planar surfaces; Kinect; Extended Kalman Filter
Sažetak:
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.
Vrsta sudjelovanja: Poster
Vrsta prezentacije u zborniku: Cjeloviti rad (više od 1500 riječi)
Vrsta recenzije: Međunarodna recenzija
Projekt / tema: 036-0363078-3018, 165-0361621-2000
Izvorni jezik: ENG
Kategorija: Znanstveni
Znanstvena područja:
Računarstvo
URL Internet adrese: http://arxiv.org/html/1310.0319
http://www.fer.unizg.hr/_download/repository/ccvw2013.pdf
Upisao u CROSBI: Emmanuel Karlo Nyarko (emmanuel.karlo.nyarko@etfos.hr), 30. Ruj. 2013. u 00:09 sati



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