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Vision aided 3D laser scanner based registration
Örebro University, Department of Technology. (AASS)ORCID iD: 0000-0002-2953-1564
Örebro University, Department of Natural Sciences. aass. (AASS)ORCID iD: 0000-0003-0217-9326
2007 (English)In: ECMR 2007: Proceedings of the European Conference on Mobile Robots, 2007, p. 192-197Conference paper, Published paper (Refereed)
Abstract [en]

This paper describes a vision and 3D laser based registration approach which utilizes visual features to identify correspondences. Visual features are obtained from the images of a standard color camera and the depth of these features is determined by interpolating between the scanning points of a 3D laser range scanner, taking into consideration the visual information in the neighbourhood of the respective visual feature. The 3D laser scanner is also used to determine a position covariance estimate of the visual feature. To exploit these covariance estimates, an ICP algorithm based on the Mahalanobis distance is applied. Initial experimental results are presented in a real world indoor laboratory environment

Place, publisher, year, edition, pages
2007. p. 192-197
Keywords [en]
Registration, Vision
National Category
Engineering and Technology Computer and Information Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-4264OAI: oai:DiVA.org:oru-4264DiVA, id: diva2:138563
Conference
3rd European conference on mobile robots, ECMR '07, Freiburg, Germany, September 19-21, 2007
Available from: 2007-12-13 Created: 2007-12-13 Last updated: 2018-06-12Bibliographically approved

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Vision Aided 3D Laser Scanner Based Registration(625 kB)24 downloads
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File name FULLTEXT01.pdfFile size 625 kBChecksum SHA-512
2f8a48d55e0ace185f06995ca92ac901d8803517a748561022d3f1d7ffe190e70d736c39e165d665d80b47a3e08d2a87519fed5cff227c038d26c79123bea72e
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Andreasson, HenrikLilienthal, Achim

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf