liu.seSearch for publications in DiVA
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Using planar facets for stereovision SLAM
Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab.ORCID iD: 0000-0003-3011-1505
LAAS/CNRS, Univ. of Toulouse, Toulouse, France. (RIS)
2008 (English)In: Proceedings of the IEEE/RSJ International Conference on Intelligent RObots and Systems (IROS), IEEE conference proceedings, 2008, p. 1606-1611Conference paper, Published paper (Refereed)
Abstract [en]

In the context of stereovision SLAM, we propose a way to enrich the landmark models. Vision-based SLAM approaches usually rely on interest points associated to a point in the Cartesian space: by adjoining oriented planar patches (if they are present in the environment), we augment the landmark description with an oriented frame. Thanks to this additional information, the robot pose is fully observable with the perception of a single landmark, and the knowledge of the patches orientation helps the matching of landmarks. The paper depicts the chosen landmark model, the way to extract and match them, and presents some SLAM results obtained with such landmarks.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2008. p. 1606-1611
Keywords [en]
SLAM, Computer Vision, Mapping
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:liu:diva-73416DOI: 10.1109/IROS.2008.4650986ISBN: 978-1-4244-2057-5 (print)OAI: oai:DiVA.org:liu-73416DiVA, id: diva2:472024
Conference
IEEE/RSJ International Conference on, Intelligent Robots and Systems, September, 22-26, 2008, Nice, France
Available from: 2012-01-03 Created: 2012-01-03 Last updated: 2018-01-12

Open Access in DiVA

No full text in DiVA

Other links

Publisher's full text

Authority records

Berger, Cyrille

Search in DiVA

By author/editor
Berger, Cyrille
By organisation
KPLAB - Knowledge Processing Lab
Computer Vision and Robotics (Autonomous Systems)

Search outside of DiVA

GoogleGoogle Scholar

doi
isbn
urn-nbn

Altmetric score

doi
isbn
urn-nbn
Total: 386 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf