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
fDate :
26 April-1 May 2004
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;
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Print_ISBN :
0-7803-8232-3
DOI :
10.1109/ROBOT.2004.1307268
