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Fusion of aerial images and sensor data from a ground vehicle for improved semantic mapping
Örebro University, School of Science and Technology. (AASS)
Department of Computing and Informatics, University of Lincoln, Lincoln, UK.
Örebro University, Department of Natural Sciences. (AASS)ORCID iD: 0000-0003-0217-9326
2008 (English)In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 56, no 6, p. 483-492Article in journal (Refereed) Published
Abstract [en]

This work investigates the use of semantic information to link ground level occupancy maps and aerial images. A ground level semantic map, which shows open ground and indicates the probability of cells being occupied by walls of buildings, is obtained by a mobile robot equipped with an omni-directional camera, GPS and a laser range finder. This semantic information is used for local and global segmentation of an aerial image. The result is a map where the semantic information has been extended beyond the range of the robot sensors and predicts where the mobile robot can find buildings and potentially driveable ground.

Place, publisher, year, edition, pages
Amsterdam: Elsevier, 2008. Vol. 56, no 6, p. 483-492
Keywords [en]
Semantic Mapping, Aerial Images, Mobile Robotics
National Category
Engineering and Technology Computer and Information Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-3274DOI: 10.1016/j.robot.2008.03.002ISI: 000256986100002Scopus ID: 2-s2.0-44149107914OAI: oai:DiVA.org:oru-3274DiVA, id: diva2:137571
Conference
IROS Workshop on From Sensors to Human Spatial Concepts 2007, San Diego, CA, USA, Nov. 2007
Available from: 2008-11-28 Created: 2008-11-28 Last updated: 2018-06-13Bibliographically approved

Open Access in DiVA

Fusion of aerial images and sensor data from a ground vehicle for improved semantic mapping(409 kB)52 downloads
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File name FULLTEXT01.pdfFile size 409 kBChecksum SHA-512
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Publisher's full textScopushttp://file:///C:/D/data-webpages/aass.oru.se/lslab/publications/Persson_etal_2008-RAS-Fusion_of_Aerial_and_Images_Ground_Level_Sensor_Data_for_Improved_Semantic_Mapping.html

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Persson, MartinLilienthal, Achim J.

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Citation style
  • apa
  • harvard1
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  • vancouver
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Language
  • de-DE
  • en-GB
  • en-US
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  • nn-NO
  • nn-NB
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  • Other locale
More languages
Output format
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  • asciidoc
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