Jump to : Download | Abstract | Contact | BibTex reference | EndNote reference |


E. Fernández-Moral, P. Rives, V. Arévalo, J. González-Jiménez. Scene structure registration for localization and mapping. Robotics and Autonomous Systems, 75, Part B:649-660, January 2016.

Download [help]

Download paper: Doi page

Download Hal paper: Hal : Hyper Archive en ligne

Download paper: Adobe portable document (pdf) pdf

Copyright notice:

This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder. This page is automatically generated by bib2html v217, © Inria 2002-2015, Projet Lagadic


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


Patrick Rives

BibTex Reference

   Author = {Fernández-Moral, E. and Rives, P. and Arévalo, V. and González-Jiménez, J.},
   Title = {Scene structure registration for localization and mapping},
   Journal = {Robotics and Autonomous Systems},
   Volume = {75, Part B},
   Pages = {649--660},
   Month = {January},
   Year = {2016}

EndNote Reference [help]

Get EndNote Reference (.ref)

| Lagadic | Map | Team | Publications | Demonstrations |
Irisa - Inria - Copyright 2009 © Lagadic Project