• DocumentCode
    529452
  • 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
  • fYear
    2010
  • fDate
    18-21 Aug. 2010
  • Firstpage
    1989
  • Lastpage
    1992
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    SICE Annual Conference 2010, Proceedings of
  • Conference_Location
    Taipei
  • Print_ISBN
    978-1-4244-7642-8
  • Type

    conf

  • Filename
    5602715
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=529452