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dc.contributor.authorTeniente Avilés, Ernesto
dc.contributor.authorAndrade-Cetto, Juan
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.date.accessioned2013-01-17T17:52:25Z
dc.date.available2013-01-17T17:52:25Z
dc.date.created2011
dc.date.issued2011
dc.identifier.citationTeniente, E.; Andrade-Cetto, J. FaMSA: fast multi-scan alignment with partially known correspondences. A: European Conference on Mobile Robots. "Proceedings of the 5th European Conference on Mobile Robots". Örebro: 2011, p. 139-144.
dc.identifier.urihttp://hdl.handle.net/2117/17409
dc.description.abstractThis paper presents FaMSA, an efficient method to boost 3D scan registration from partially known correspondence sets. This situation is typical at loop closure in large laser-based mapping sessions. In such cases, scan registration for consecutive point clouds has already been made during open loop traverse, and the point match history can be used to speed up the computation of new scan matches. FaMSA allows to quickly match a new scan with multiple consecutive scans at a time, with the consequent benefits in computational speed. Registration error is shown to be comparable to that of independent scan alignment. Results are shown for dense 3D outdoor scan matching.
dc.format.extent6 p.
dc.language.isoeng
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Enginyeria de la telecomunicació::Processament del senyal::Processament de la imatge i del senyal vídeo
dc.subject.lcshComputer vision
dc.titleFaMSA: fast multi-scan alignment with partially known correspondences
dc.typeConference report
dc.subject.lemacVisió per ordinador
dc.contributor.groupUniversitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents
dc.subject.inspecClassificació INSPEC::Pattern recognition::Computer vision
dc.relation.publisherversionhttp://aass.oru.se/Agora/ECMR2011/documents/ECMR_2011_Program.pdf
dc.rights.accessOpen Access
local.identifier.drac8951320
dc.description.versionPreprint
dc.relation.projectidinfo:eu-repo/grantAgreement/EC/FP7/269959/EU/Intelligent observation and execution of Actions and manipulations/INTELLACT
dc.relation.projectidinfo:eu-repo/grantAgreement/EC/FP7/258749/EU/The Collective Experience of Empathic Data Systems/CEEDS
local.citation.authorTeniente, E.; Andrade-Cetto, J.
local.citation.contributorEuropean Conference on Mobile Robots
local.citation.pubplaceÖrebro
local.citation.publicationNameProceedings of the 5th European Conference on Mobile Robots
local.citation.startingPage139
local.citation.endingPage144


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