REAL-TIME MULTI-SENSORY DATA PROCESSING FOR PERCEPTUALLY RICH ENVIRONMENT DESCRIPTION

被引：0
|
作者：
Skrzypczynski, Piotr [1 ]
机构：
[1] Poznan Univ Tech, Inst Control & Informat Engn, Ul Piotrowo 3A, PL-60965 Poznan, Poland
来源：
EMERGING TRENDS IN MOBILE ROBOTICS | 2010年
关键词：
Map building; Multi-sensor system; Computer vision; Mobile robot; SIMULTANEOUS LOCALIZATION;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper describes methods that employ monocular vision in order to increase discriminative properties of the laser-based line segments typically used in SLAM. Visually salient objects are represented by clusters of photometric features and aggregated together with the basic line segments extracted from the 2D laser scanner data. An improved matching strategy for the visually salient features is introduced. Three recent photometric feature detectors are evaluated in the context of the proposed mapping approach, taking into account visual saliency, repeatability, and computing efficiency.
引用
收藏
页码：1005 / 1012
页数：8
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