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Fusion of aerial images and sensor data from a ground vehicle for improved semantic mapping
Örebro universitet, Institutionen för teknik. (AASS)
Department of Computing and Informatics, University of Lincoln, Lincoln, Uk.
Örebro universitet, Institutionen för teknik. (AASS)ORCID-id: 0000-0003-0217-9326
2007 (Engelska)Ingår i: Proceedings of the IROS Workshop "From Sensors to Human Spatial Concepts", 2007, s. 17-24Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

This paper investigates the use of semantic information to link ground-level occupancy maps and aerial images. A ground-level semantic map is obtained by a mobile robot equipped with an omnidirectional camera, differential GPS and a laser range finder. The mobile robot uses a virtual sensor for building detection (based on omnidirectional images) to compute the ground-level semantic map, which indicates the probability of the cells being occupied by the wall of a building. These wall estimates from a ground perspective are then matched with edges detected in an aerial image. The result is used to direct a region- and boundary-based segmentation algorithm for building detection in the aerial image. This approach addresses two difficulties simultaneously: 1) the range limitation of mobile robot sensors and 2) the difficulty of detecting buildings in monocular aerial images. With the suggested method building outlines can be detected faster than the mobile robot can explore the area by itself, giving the robot an ability to "see" around corners. At the same time, the approach can compensate for the absence of elevation data in segmentation of aerial images. Our experiments demonstrate that ground-level semantic information (wall estimates) allows to focus the segmentation of the aerial image to find buildings and produce a ground-level semantic map that covers a larger area than can be built using the onboard sensors.

Ort, förlag, år, upplaga, sidor
2007. s. 17-24
Nationell ämneskategori
Teknik och teknologier Data- och informationsvetenskap
Forskningsämne
Datalogi
Identifikatorer
URN: urn:nbn:se:oru:diva-4262OAI: oai:DiVA.org:oru-4262DiVA, id: diva2:138561
Konferens
IROS Workshop "From Sensors to Human Spatial Concepts", Nov., 2007, San Diego, CA, USA
Tillgänglig från: 2007-12-13 Skapad: 2007-12-13 Senast uppdaterad: 2018-06-12Bibliografiskt granskad

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Fusion of Aerial Images and Sensor Data from a Ground Vehicle for Improved Semantic Mapping(384 kB)438 nedladdningar
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Persson, MartinLilienthal, Achim J.

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