3D landmarks extraction from a range imager data for SLAM

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dc.contributor.author Wang, JJ
dc.contributor.author Hu, G
dc.contributor.author Huang, S
dc.contributor.author Dissanayake, G
dc.date.accessioned 2010-05-28T10:01:50Z
dc.date.issued 2009
dc.identifier.citation Proceedings of the 2009 Australasian Conference on Robotics and Automation, ACRA 2009, 2009
dc.identifier.isbn 9780980740400
dc.identifier.other E1 en_US
dc.identifier.uri http://hdl.handle.net/10453/11099
dc.description.abstract This paper introduces a new 3D landmark extraction method using the range and intensity images captured by a single range camera. Speeded up robust features (SURF) detection and matching is used to extract and match features from the intensity images. The range image information is used to transfer the selected 2D features into 3D points. The range measurement bias and uncertainty of the range camera are analysed, and their models are developed for improving the range estimation. After outliers' detection and removal using random sampling consensus (RANSAC), reliable 3D points are obtained. 3D landmarks for simultaneous localisation and mapping (SLAM) are selected from the 3D points considering several factors, such as the uncertainty and geometry of their locations. Because of the availability of the SURF descriptor, the data association in SLAM has been performed using both the geometry and the descriptor information. The proposed method is tested in unstructured indoor environments, where the range camera moves in six degrees of freedom. Experimental results demonstrate the success of the proposed 3D landmark extraction method for SLAM.
dc.title 3D landmarks extraction from a range imager data for SLAM
dc.type Conference Proceeding
dc.parent Proceedings of the 2009 Australasian Conference on Robotics and Automation, ACRA 2009
dc.journal.number en_US
dc.publocation Sydney, Australia en_US
dc.identifier.startpage 1 en_US
dc.identifier.endpage 8 en_US
dc.cauo.name FEIT.Faculty of Engineering & Information Technology en_US
dc.conference Verified OK en_US
dc.conference Australasian Conference on Robotics and Automation
dc.for 090602 Control Systems, Robotics and Automation
dc.personcode 011224
dc.personcode 040006
dc.personcode 106419
dc.percentage 100 en_US
dc.classification.name Control Systems, Robotics and Automation en_US
dc.classification.type FOR-08 en_US
dc.edition en_US
dc.custom Australasian Conference on Robotics and Automation en_US
dc.date.activity 20091202 en_US
dc.date.activity 2009-12-02
dc.location.activity Sydney, Australia en_US
pubs.embargo.period Not known
pubs.organisational-group /University of Technology Sydney
pubs.organisational-group /University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group /University of Technology Sydney/Faculty of Engineering and Information Technology/School of Civil and Environmental Engineering
pubs.organisational-group /University of Technology Sydney/Faculty of Engineering and Information Technology/School of Elec, Mech and Mechatronic Systems
utslib.copyright.status Open Access
utslib.copyright.date 2015-04-15 12:23:47.074767+10
pubs.consider-herdc true
utslib.collection.history General (ID: 2)


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