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Registration of 3d point clouds for urban robot mapping

Autor
Teniente, E.; Andrade-Cetto, J.
Tipus d'activitat
Document cientificotècnic
Data
2008
Codi
IRI-TR-08-06
Repositori
http://hdl.handle.net/2117/13936 Obrir en finestra nova
Resum
We consider the task of mapping pedestrian urban areas for a robotic guidance and surveillance application. This mapping is performed by registering three-dimensional laser range scans acquired with two different robots. To solve this task we will use the Iterative Closes Point (ICP) algorithm proposed in [8], but for the minimization step we will use the metric proposed by Biota et al. [10] trying to get advantage of the compensation between translation and rotation they mention. To reduce comp...
Paraules clau
Automation 3d Mapping 3d Registration Icp
Grup de recerca
VIS - Visió Artificial i Sistemes Intel.ligents

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