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SLAM-based 3D outdoor reconstructions from lidar data

Author
Caminal, I.; Casas, J.; Royo, S.
Type of activity
Presentation of work at congresses
Name of edition
2018 International Conference on 3D Immersion
Date of publication
2018
Presentation's date
2018-12-05
Book of congress proceedings
2018 International Conference on 3D (IC3D)
First page
1
Last page
8
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
DOI
10.1109/IC3D.2018.8657869
Project funding
Multimodal Signal Processing and Machine Learning on Graphs
Repository
http://hdl.handle.net/2117/131437 Open in new window
URL
https://ieeexplore.ieee.org/document/8657869 Open in new window
Abstract
The use of depth (RGBD) cameras to reconstruct large outdoor environments is not feasible due to lighting conditions and low depth range. LIDAR sensors can be used instead. Most state of the art SLAM methods are devoted to indoor environments and depth (RGBD) cameras. We have adapted two SLAM systems to work with LIDAR data. We have compared the systems for LIDAR and RGBD data by performing quantitative evaluations. Results show that the best method for LIDAR data is RTAB-Map with a clear differ...
Citation
Caminal, I.; Casas, J.; Royo, S. SLAM-based 3D outdoor reconstructions from lidar data. A: International Conference on 3D Immersion. "2018 International Conference on 3D (IC3D)". Institute of Electrical and Electronics Engineers (IEEE), 2018, p. 1-8.
Keywords
3D imaging, LIDAR cameras, SLAM, mapping, point-cloud processing, time-of-flight
Group of research
CD6 - Centre for Sensors, Instruments and Systems Development
GPI - Image and Video Processing Group
GREO - Optical Engineering Research Group
IDEAI-UPC - Intelligent Data Science and Artificial Intelligence Research Center

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