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FaMSA: fast multi-scan alignment with partially known correspondences

Autor
Teniente, E.; Andrade-Cetto, J.
Tipus d'activitat
Presentació treball a congrés
Nom de l'edició
ECMR 5th European Conference on Mobile Robots
Any de l'edició
2011
Data de presentació
2011
Llibre d'actes
Proceedings of the 5th European Conference on Mobile Robots
Pàgina inicial
139
Pàgina final
144
Repositori
http://hdl.handle.net/2117/17409 Obrir en finestra nova
URL
http://aass.oru.se/Agora/ECMR2011/documents/ECMR_2011_Program.pdf Obrir en finestra nova
Resum
This paper presents FaMSA, an efficient method to boost 3D scan registration from partially known correspondence sets. This situation is typical at loop closure in large laser-based mapping sessions. In such cases, scan registration for consecutive point clouds has already been made during open loop traverse, and the point match history can be used to speed up the computation of new scan matches. FaMSA allows to quickly match a new scan with multiple consecutive scans at a time, with the consequ...
Citació
Teniente, E.; Andrade-Cetto, J. FaMSA: fast multi-scan alignment with partially known correspondences. A: European Conference on Mobile Robots. "Proceedings of the 5th European Conference on Mobile Robots". Örebro: 2011, p. 139-144.
Grup de recerca
VIS - Visió Artificial i Sistemes Intel.ligents

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