6DoF Egomotion Computing Using 3D GNG-Based Reconstruction

Autor:	José Tomás García García, Miguel Cazorla, Diego Viejo
Rok vydání:	2011
Předmět:	Sequence business.industry Computer science Mobile robot Computer vision Artificial intelligence business
Zdroj:	Advances in Computational Intelligence ISBN: 9783642214974 IWANN (2)
DOI:	10.1007/978-3-642-21498-1_7
Popis:	Several recent works deal with 3D data in mobile robotic problems: mapping and SLAM related problems. Data come from any kind of sensor (time of flight cameras and 3D lasers) providing a huge amount of unorganized 3D data. In this paper we detail an efficient method to build complete 3D models from a Growing Neural Gass (GNG). The GNG obtained is then applied to a sequence. From neurons in the GNG, we propose to calculate planar patches and thus obtaining a fast method to compute the movement performed by a mobile robot by means of a 3D models registration algorithm.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::75bad1ac91355123542b66aa76b0aeeb https://doi.org/10.1007/978-3-642-21498-1_7 Zobrazit plný text záznamu