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Pregled bibliografske jedinice broj: 713302

Časopis

Autori: Cupec, Robert; Nyarko, Emmanuel Karlo; Filko, Damir; Kitanov, Andrej; Petrović, Ivan
Naslov: Place recognition based on matching of planar surfaces and line segments
Izvornik: International journal of robotics research (0278-3649) 34 (2015), 4/5; 674-704
Vrsta rada: članak
Ključne riječi: place recognition; computer vision; three-dimensional camera; point clouds; planar surfaces; line segments
Sažetak:
This paper considers the potential of using three- dimensional (3D) planar surfaces and line segments detected in depth images for place recognition. A place recognition method is presented that is based on matching sets of surface and line features extracted from depth images provided by a 3D camera to features of the same type contained in a previously created environment model. The considered environment model consists of a set of local models representing particular locations in the modeled environment. Each local model consists of planar surface segments and line segments representing the edges of objects in the environment. The presented method is designed for indoor and urban environments. A computationally efficient pose hypothesis generation approach is proposed that ranks the features according to their potential contribution to the pose information, thereby reducing the time needed for obtaining accurate pose estimation. Furthermore, a robust probabilistic method for selecting the best pose hypothesis is proposed that allows matching of partially overlapping point clouds with gross outliers. The proposed approach is experimentally tested on a benchmark dataset containing depth images acquired in the indoor environment with changes in lighting conditions and the presence of moving objects. A comparison of the proposed method to FAB-MAP and DLoopDetector is reported.
Projekt / tema: 036-0363078-3018, ACROSS
Izvorni jezik: ENG
Rad je indeksiran u
bazama podataka:
Current Contents Connect (CCC)
Scopus
SCI-EXP, SSCI i/ili A&HCI
Science Citation Index Expanded (SCI-EXP) (sastavni dio Web of Science Core Collectiona)
Kategorija: Znanstveni
Znanstvena područja:
Elektrotehnika,Računarstvo,Temeljne tehničke znanosti
URL Internet adrese: http://ijr.sagepub.com/content/34/4-5/674
http://dx.doi.org/10.1177/0278364914548708
Broj citata:
Altmetric:
DOI: 10.1177/0278364914548708
URL cjelovitog teksta:
Google Scholar: Place recognition based on matching of planar surfaces and line segments
Upisao u CROSBI: Ivan Petrović (ivan.petrovic@fer.hr), 6. Ruj. 2014. u 18:57 sati



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