%0 Journal Article 
%F FernandezMoral16a
%A Fernández-Moral, E.
%A Rives, P.
%A Arévalo, V.
%A González-Jiménez, J.
%T Scene structure registration for localization and mapping
%J Robotics and Autonomous Systems
%V 75, Part B
%P 649-660
%X Abstract Image registration, and more generally scene registration, needs to be solved in mobile robotics for a number of tasks including localization, mapping, object recognition, visual odometry and loop-closure. This paper presents a flexible strategy to register scenes based on its planar structure, which can be used with different sensors that acquire 3D data like LIDAR, time-of-flight cameras, RGB-D sensors and stereo vision. The proposed strategy is based on the segmentation of the planar surfaces from the scene, and its representation using a graph which stores the geometric relationships between neighbouring planar patches. Uncertainty information from the planar patches is exploited in a hierarchical fashion to improve both the robustness and the efficiency of registration. Quick registration is achieved in indoor structured scenarios, offering advantages like a compact representation, and flexibility to adapt to different environments and sensors. Our method is validated with different sensors: a hand-held RGB-D camera and an omnidirectional RGB-D sensor; and for different applications: from visual-range odometry to loop closure and SLAM
%U http://www.irisa.fr/lagadic/pdf/2015_ras_fernandezmoral.pdf
%U http://dx.doi.org/10.1016/j.robot.2015.09.009
%8 January
%D 2016