Comparison of 3D Feature Registration Techniques for Indoor Mapping

被引：0

作者：

A-Latif, Doaa M. ^{[1
]}

Salem, Mohammed A. -Megeed ^{[1
]}

Ramadan, H. ^{[1
]}

Roushdy, Mohamed I. ^{[1
]}

机构：

[1] Ain Shams Univ, Fac Comp & Infromat Sci, Cairo 11566, Egypt

来源：

2013 8TH INTERNATIONAL CONFERENCE ON COMPUTER ENGINEERING & SYSTEMS (ICCES) | 2013年

关键词：

SIMULTANEOUS LOCALIZATION; ROBOT NAVIGATION; SLAM; ROBUST; SIFT;

D O I：

暂无

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

Maps are used extensively to understand the surrounding environment and to navigate through it. This has motivated research in localization and mapping and as a result numerous algorithms have been proposed to construct different types of maps. The mapping problem involves many difficulties such as: the estimation of the sensor position and orientation at each observation, the correct interpretation of data and the error minimization in aligning observations. In this paper a comprehensive overview of the visual SLAM problem is provided along with a comparison of different algorithms used in the construction of 3D maps. The algorithms have been tested on standard 3D datasets of indoor environments.

引用

页码：239 / 244

页数：6