Temat: odometry - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: Experimental verification of a walking robot self - localization system with the kinect sensor
Autorzy:: Nowicki, M.
Skrzypczyński, P.
Powiązania:: https://bibliotekanauki.pl/articles/950763.pdf
Data publikacji:: 2013
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:: 3D perception
salient features
iterative closest points
visual odometry
walking robot
Opis:: In this paper we investigate methods for self-localisation of a walking robot with the Kinect 3D active range sensor. The Iterative Closest Point (ICP) algorithm is considered as the basis for the computation of the robot rotation and translation between two viewpoints. As an alternative, a feature-based method for matching of 3D range data is considered, using the Normal Aligned Radial Feature (NARF) descriptors. Then, it is shown that NARFs can be used to compute a good initial estimate for the ICP algorithm, resulting in convergent estimation of the sensor egomotion. Experimental results are provided.
Źródło:: Journal of Automation Mobile Robotics and Intelligent Systems; 2013, 7, 4; 42-51
1897-8649
2080-2145
Pojawia się w:: Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 2.

Tytuł:: Efficient RGB-D data processing for feature-based self-localization of mobile robots
Autorzy:: Kraft, M.
Nowicki, M.
Penne, R.
Schmidt, A.
Skrzypczyński, P.
Powiązania:: https://bibliotekanauki.pl/articles/330295.pdf
Data publikacji:: 2016
Wydawca:: Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:: visual odometry
simultaneous localization
simultaneous mapping
RGB-D
tracking
point features
odometria wizyjna
lokalizacja jednoczesna
śledzenie
Opis:: The problem of position and orientation estimation for an active vision sensor that moves with respect to the full six degrees of freedom is considered. The proposed approach is based on point features extracted from RGB-D data. This work focuses on efficient point feature extraction algorithms and on methods for the management of a set of features in a single RGB-D data frame. While the fast, RGB-D-based visual odometry system described in this paper builds upon our previous results as to the general architecture, the important novel elements introduced here are aimed at improving the precision and robustness of the motion estimate computed from the matching point features of two RGB-D frames. Moreover, we demonstrate that the visual odometry system can serve as the front-end for a pose-based simultaneous localization and mapping solution. The proposed solutions are tested on publicly available data sets to ensure that the results are scientifically verifiable. The experimental results demonstrate gains due to the improved feature extraction and management mechanisms, whereas the performance of the whole navigation system compares favorably to results known from the literature.
Źródło:: International Journal of Applied Mathematics and Computer Science; 2016, 26, 1; 63-79
1641-876X
2083-8492
Pojawia się w:: International Journal of Applied Mathematics and Computer Science
Dostawca treści:: Biblioteka Nauki

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