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On the Accuracy of the 3D Normal Distributions Transform as a Tool for Spatial Representation
Örebro University, School of Science and Technology.ORCID iD: 0000-0002-6013-4874
Örebro University, School of Science and Technology.ORCID iD: 0000-0001-8658-2985
Örebro University, School of Science and Technology.
Örebro University, School of Science and Technology.ORCID iD: 0000-0003-0217-9326
2011 (English)In: 2011 IEEE International Conference on Robotics and Automation (ICRA), IEEE conference proceedings, 2011Conference paper, Published paper (Refereed)
Abstract [en]

The Three-Dimensional Normal Distributions Transform (3D-NDT) is a spatial modeling technique with applications in point set registration, scan similarity comparison, change detection and path planning. This work concentrates on evaluating three common variations of the 3D-NDT in terms of accuracy of representing sampled semi-structured environments. In a novel approach to spatial representation quality measurement, the 3D geometrical modeling task is formulated as a classification problem and its accuracy is evaluated with standard machine learning performance metrics. In this manner the accuracy of the 3D-NDT variations is shown to be comparable to, and in some cases to outperform that of the standard occupancy grid mapping model.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2011.
Series
IEEE International Conference on Robotics and Automation ICRA, ISSN 1050-4729
National Category
Computer Vision and Robotics (Autonomous Systems)
Research subject
Information technology
Identifiers
URN: urn:nbn:se:oru:diva-22687DOI: 10.1109/ICRA.2011.5979584ISI: 000324383403050Scopus ID: 2-s2.0-84871695120ISBN: 978-1-61284-385-8 (print)OAI: oai:DiVA.org:oru-22687DiVA, id: diva2:524116
Conference
IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA),Shanghai, PEOPLES R CHINA,MAY 09-13, 2011.
Note

Proceedings at

http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=5501116

Available from: 2012-05-07 Created: 2012-04-27 Last updated: 2018-01-12Bibliographically approved

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Stoyanov, TodorMagnusson, MartinAlmqvist, HåkanLilienthal, Achim J.

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CiteExportLink to record
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Citation style
  • apa
  • ieee
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  • de-DE
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Output format
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