Incremental probabilistic geometry estimation for robot scene understanding

Louis Kenzo Cahier, Tetsuya Ogata, Hiroshi G. Okuno

研究成果: Conference contribution

2 引用 (Scopus)

抜粋

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.

元の言語English
ホスト出版物のタイトル2012 IEEE International Conference on Robotics and Automation, ICRA 2012
出版者Institute of Electrical and Electronics Engineers Inc.
ページ3625-3630
ページ数6
ISBN(印刷物)9781467314039
DOI
出版物ステータスPublished - 2012
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(印刷物)1050-4729

Conference

Conference 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
United States
Saint Paul, MN
期間12/5/1412/5/18

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • これを引用

    Cahier, L. K., Ogata, T., & Okuno, H. G. (2012). Incremental probabilistic geometry estimation for robot scene understanding. : 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 (pp. 3625-3630). [6225343] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2012.6225343