Incremental probabilistic geometry estimation for robot scene understanding

Louis Kenzo Cahier*, Tetsuya Ogata, Hiroshi G. Okuno

*この研究の対応する著者

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

Our goal is to give mobile robots a rich representation of their environment as fast as possible. Current mapping methods such as SLAM are often sparse, and scene reconstruction methods using tilting laser scanners are relatively slow. In this paper, we outline a new method for iterative construction of a geometric mesh using streaming time-of-flight range data. Our results show that our algorithm can produce a stable representation after 6 frames, with higher accuracy than raw time-of-flight data.

本文言語English
ホスト出版物のタイトル2012 IEEE International Conference on Robotics and Automation, ICRA 2012
出版社Institute of Electrical and Electronics Engineers Inc.
ページ3625-3630
ページ数6
ISBN(印刷版)9781467314039
DOI
出版ステータスPublished - 2012
外部発表はい
イベント 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
継続期間: 2012 5 142012 5 18

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

Conference

Conference 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
国/地域United States
CitySaint Paul, MN
Period12/5/1412/5/18

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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