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Items for "surface feature"

The Elastic View Graph Framework for Autonomous, Surface-based 3D-SLAM Part I: Concept and Local Layer

This paper introduces a new framework for incremental localization and mapping (3D-SLAM) that integrates submaps of surface features extracted from dense range images...

Keywords: simultaneous localization and mapping (SLAM), range image, surface feature, multi-hypothesis, Uncertainty

03/2007 | at – Automatisierungstechnik, Oldenbourg Wissenschaftsverlag
The Elastic View Graph Framework for Autonomous, Surface-based 3D-SLAM Part II: Global Layer and Experiments

This paper covers the global aspects of a new SLAM framework introduced in [9]. The map is a graph of overlapping range views, linked by multiple uncertain hypotheses of motion and correspondence...

Keywords: simultaneous localization and mapping (SLAM), range image, surface feature, correspondence, multi-hypothesis

04/2007 | at – Automatisierungstechnik, Oldenbourg Wissenschaftsverlag