منابع مشابه
Visual registration and navigation using planar features
This paper addresses the problem of registering the hexapedal robot, RHex, relative to a known set of beacons, by real-time visual servoing. A suitably constructed navigation function represents the task, in the sense that for a completely actuated machine in the horizontal plane, the gradient dynamics guarantee convergence to the visually cued goal without ever losing sight of the beacons that...
متن کامل6D scan registration using depth-interpolated local image features
This paper describes a novel registration approach that is based on a combination of visual and 3D range information. To identify correspondences, local visual features obtained from images of a standard color camera are compared and the depth of matching features (and their position covariance) is determined from the range measurements of a 3D laser scanner. The matched depth-interpolated imag...
متن کاملThree-dimensional Scan Registration using Curvelet Features in Planetary Environments
Topographic mapping in planetary environments relies on accurate 3D scan registration methods. However, most global registration algorithms relying on features such as FPFH and Harris-3D show poor alignment accuracy in these settings due to the poor structure of the Mars-like terrain and variable resolution, occluded, sparse range data that is hard to register without some a-priori knowledge of...
متن کامل3D Scan Registration using Curvelet Features in Planetary Environments
Topographic mapping in planetary environments relies on accurate 3D scan registration methods. However, most registration algorithms such as ICP, GICP and NDT show poor convergence properties in these settings due to the poor structure of the Mars-like terrain and variable resolution, occluded, sparse range data that is hard to register without some a-priori knowledge of the environment. We rec...
متن کاملRange Scan Registration Using Reduced Deformable Models
We present an unsupervised method for registering range scans of deforming, articulated shapes. The key idea is to model the motion of the underlying object using a reduced deformable model. We use a linear skinning model for its simplicity and represent the weight functions on a regular grid localized to the surface geometry. This decouples the deformation model from the surface representation...
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ژورنال
عنوان ژورنال: The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
سال: 2014
ISSN: 2194-9034
DOI: 10.5194/isprsarchives-xl-5-501-2014