Title :
Map building by 3D map matching
Author :
Ishimaru, Tetsuya ; Tanaka, Kanji ; Saeki, Kenichi ; Daitou, Takehiro
Author_Institution :
Grad. Sch. of Eng., Univ. of Fukui, Fukui, Japan
Abstract :
This paper addresses the problem of map matching for robot navigation. We propose 3D map matching by a modified RANSAC algorithm for line edges acquired by a stereo camera. 3D map-matching has proven to be successful in indoor and outdoor environments.
Keywords :
SLAM (robots); cameras; mobile robots; path planning; random processes; robot vision; 3D map matching; map building; mobile robot; modified RANSAC algorithm; random sample consensus algorithm; robot navigation; stereo camera; Cameras; Computational modeling; Image edge detection; Image segmentation; Simultaneous localization and mapping; Three dimensional displays; 3D map matching; RANSAC; SLAM; mobile robot;
Conference_Titel :
SICE Annual Conference 2010, Proceedings of
Conference_Location :
Taipei
Print_ISBN :
978-1-4244-7642-8
