Dense 3D map building based on LRF data and color image fusion

Research output: Chapter in Book/Report/Conference proceedingConference contribution

33 Citations (Scopus)

Abstract

Research objective of the authors is 3D map building and localization of search robot for rescue use. In this paper, the authors propose a novel method of dense 3D map building and present its trial result. For building a map, it is necessary to estimate robot motion. However, on rubble, it is difficult to estimate robot motion by using odometry or gyro. Therefore, in this framework, rough 3D map and discrete robot motions are derived using SLAM based on 3D scan matching. ICP algorithm is used for the matching method. Then, the dense 3D map is reconstructed from the rough 3D map and texture images.

Original languageEnglish
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
PublisherIEEE Computer Society
Pages2792-2797
Number of pages6
ISBN (Print)0780389123, 9780780389120
DOIs
Publication statusPublished - 2005

Publication series

Name2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Keywords

  • Dense 3D map
  • ICP
  • LRF
  • SLAM on rubble
  • Space carving

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

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