IMPROVEMENT OF 3D MONTE CARLO LOCALIZATION USING A DEPTH CAMERA AND TERRESTRIAL LASER SCANNER
نویسندگان
چکیده
منابع مشابه
Occlusion Area as Suitable Guidance for Terrestrial Laser Scanner Localization
Terrestrial Laser Scanner (TLS) technology, have altered quickly data acquisition for map production in surveying. In many cases, it is impossible to complete surveying of the desired area without TLS displacement in one station to another. Occlusion is innate in data acquisition, with this type of device. To solve this problem, TLS devices should be placed in different locations and scanning o...
متن کاملMapping and Localization in 3D Environments Using a 2D Laser Scanner and a Stereo Camera
2D laser scanners have been widely used for accomplishing a number of challenging AI and robotics tasks such as mapping of large environments and localization in highly dynamic environments. However, using only one 2D laser scanner could be insufficient and less reliable for accomplishing tasks in 3D environments. The problem could be solved using multiple 2D laser scanners or a 3D laser scanne...
متن کاملDesign and performance evaluation of spheroid geometry for brain PET scanner using Monte Carlo modeling
Introduction: There has been a curiosity about the spheroid geometry for PET scanners developments since several years ago, therefore in this study, we are aiming to evaluate the performance of this geometry and compare its performance with cylindrical geometry using Monte Carlo simulation. Methods: We simulated a spheroid geometry with a radius of 199 mm...
متن کاملMonte Carlo Localization in 3D Maps Using Stereo Vision
In this paper we present a Monte Carlo localization algorithm that exploits 3D information obtained by a trinocular stereo camera. First, we obtain a 3D map by estimating the optimal transformations between two consecutive views of the environment through the minimization of an energy function. Then, we use a particle-filter algorithm for addressing the localization in the map. For that purpose...
متن کاملKinect Fusion Improvement Using Depth Camera Calibration
Scene’s 3D modelling, gesture recognition and motion tracking are fields in rapid and continuous development which have caused growing demand on interactivity in video-game and e-entertainment market. Starting from the idea of creating a sensor that allows users to play without having to hold any remote controller, the Microsoft Kinect device was created. The Kinect has always attract researche...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
سال: 2015
ISSN: 2194-9034
DOI: 10.5194/isprsarchives-xl-4-w5-61-2015