Environment characterization using Laplace eigenvalues
| Autor: | Danwei Wang, Ehsan Mihankhah |
|---|---|
| Rok vydání: | 2016 |
| Předmět: |
For loop
0209 industrial biotechnology Engineering Robot kinematics business.industry Frame (networking) Point cloud 020207 software engineering Mobile robot 02 engineering and technology Mathematics::Spectral Theory Simultaneous localization and mapping 020901 industrial engineering & automation Operator (computer programming) 0202 electrical engineering electronic engineering information engineering Computer vision Artificial intelligence business Algorithm Eigenvalues and eigenvectors |
| Zdroj: | ICARCV |
| Popis: | This paper introduces a new methodology for environment characterization. This methodology is based on analysis of the eigenvalues of Laplace-Beltrami operator over 3 dimensional point clouds. Recognizing revisited places can be facilitated by characterizing the environment through a descriptor. The idea of analyzing point clouds using the eigenvalues of Laplace-Beltrami operator for characterization of an environment can be used for place detection which is a critical functionality of autonomous mobile robots. Place detection is a requirement for transition detection in multi environment missions, common frame identification in multi robot mapping, and detection of previously visited location in SLAM for loop closure phase. |
| Databáze: | OpenAIRE |
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