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Authors: Ayman Zureiki ; Michel Devy and Raja Chatila

Affiliation: CNRS, LAAS; Université de Toulouse, UPS, INSA, INP, ISAE, LAAS-CNRS, France

Keyword(s): Data Fusion, SLAM, Heterogeneous Maps.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation ; Vision, Recognition and Reconstruction

Abstract: Indoor structured environments contain an important number of planar surfaces and line segments. Using these both features in a unique map gives a simplified way to represent man-made environments. Extracting planes and lines by a mobile robot requires more than one sensor: a 3D laser scanner and a camera can be a good equipment. The incremental construction of such a model is a Simultaneous Localisation And Mapping (SLAM) problem: while exploring the environment, the robot executes motions; from each position, it acquires sensory data, extracts perceptual features, and simultaneously, performs self-localisation and model update. First, the 3D range image is segmented into a set of planar faces which are used as landmarks. Next, we describe how to extract 2D line landmarks by fusing data from both sensors. Our stochastic map is of heterogeneous type and contains plane and 2D line landmarks. At first, The SLAM formalism is used to build a stochastic planar map, and results on the incr emental construction of such a map are presented, further on, heterogeneous map will be constructed. (More)

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Paper citation in several formats:
Zureiki, A.; Devy, M. and Chatila, R. (2008). SLAM AND MULTI-FEATURE MAP BY FUSING 3D LASER AND CAMERA DATA. In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-8111-31-9; ISSN 2184-2809, SciTePress, pages 101-108. DOI: 10.5220/0001500701010108

@conference{icinco08,
author={Ayman Zureiki. and Michel Devy. and Raja Chatila.},
title={SLAM AND MULTI-FEATURE MAP BY FUSING 3D LASER AND CAMERA DATA},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2008},
pages={101-108},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001500701010108},
isbn={978-989-8111-31-9},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - SLAM AND MULTI-FEATURE MAP BY FUSING 3D LASER AND CAMERA DATA
SN - 978-989-8111-31-9
IS - 2184-2809
AU - Zureiki, A.
AU - Devy, M.
AU - Chatila, R.
PY - 2008
SP - 101
EP - 108
DO - 10.5220/0001500701010108
PB - SciTePress