DocumentCode
414059
Title
Probabilistic plane fitting in 3D and an application to robotic mapping
Author
Weingarten, Jan W. ; Gruener, Gabriel ; Siegwart, Roland
Author_Institution
Autonomous Syst. Lab., Swiss Federal Inst. of Technol., Lausanne, Switzerland
Volume
1
fYear
2004
fDate
26 April-1 May 2004
Firstpage
927
Abstract
This work presents a method for probabilistic plane fitting and an application to robotic 3D mapping. The plane is fitted in an orthogonal least-square sense and the output complies with the conventions of the symmetries and perturbation model (SPmodel). In the second part of the paper, the presented plane fitting method is used within a 3D mapping application. It is shown that by using probabilistic information, high precision 3D maps can be generated.
Keywords
least squares approximations; mobile robots; path planning; probability; orthogonal least-square sense; perturbation model; probabilistic plane fitting; robotic 3D mapping; Application software; Feature extraction; Laser modes; Navigation; Paper technology; Robot kinematics; Robot sensing systems; Robot vision systems; Robustness; Virtual reality;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-8232-3
Type
conf
DOI
10.1109/ROBOT.2004.1307268
Filename
1307268
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