There are a range of small-size robots that cannot afford to mount a three-dimensional sensor due to energy, size or power limitations. However, the best localization and mapping algorithms and object recognition methods rely on a three-dimensional representation of the environment to provide enhanced capabilities. Thus, in this work we propose a method to create a dense three-dimensional representation of the environment by fusing the output of a KSLAM algorithm with predicted point clouds. We demonstrate with quantitative and qualitative results the advantages of our method, focusing in three different measures: localization accuracy, densification capabilities and accuracy of the resultant three-dimensional map.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Map Slammer: Densifying Scattered KSLAM 3D Maps with Estimated Depth


    Weitere Titelangaben:

    Advs in Intelligent Syst., Computing


    Beteiligte:
    Silva, Manuel F. (Herausgeber:in) / Luís Lima, José (Herausgeber:in) / Reis, Luís Paulo (Herausgeber:in) / Sanfeliu, Alberto (Herausgeber:in) / Tardioli, Danilo (Herausgeber:in) / Torres-Camara, Jose Miguel (Autor:in) / Escalona, Felix (Autor:in) / Gomez-Donoso, Francisco (Autor:in) / Cazorla, Miguel (Autor:in)

    Kongress:

    Iberian Robotics conference ; 2019 ; Porto, Portugal November 20, 2019 - November 22, 2019



    Erscheinungsdatum :

    20.11.2019


    Format / Umfang :

    12 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Map Slammer: Densifying Scattered KSLAM 3D Maps with Estimated Depth

    Torres-Camara, Jose Miguel / Escalona, Felix / Gomez-Donoso, Francisco et al. | TIBKAT | 2020


    Neue israelische 155 mm-Panzerhaubitze SLAMMER

    Hilmes,R. | Kraftfahrwesen | 1993


    POWER-DENSIFYING CHARGING STATION

    MEYER ROBERT J / GENARO PIERO SOBRAL / SANTOS ALEX CARDOSO | Europäisches Patentamt | 2024

    Freier Zugriff

    Densifying Distance Spaces for Shape and Image Retrieval

    Yang, X. | British Library Online Contents | 2013


    Sensor calibration using dense depth maps

    KROEGER TILL | Europäisches Patentamt | 2023

    Freier Zugriff