Three-dimensional Scan Registration using Curvelet Features in Planetary Environments
نویسندگان
چکیده
منابع مشابه
Three-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...
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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...
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Using greyscale texture features recently become a new trend in supervised machine learning crater detection. Need to be analysed image data preferably by automatic technique as the data is in huge amount. Automatic feature extraction method is proposed and utilised for earth remote sensing images. These are not always applicable to planetary data which is having low contrast and uneven illumin...
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COMPARING FEATURES OF THREE-DIMENSIONAL OBJECT MODELS USING REGISTRATION BASED ON SURFACE CURVATURE SIGNATURES by Timothy David Gatzke ADVISOR: Professor Cindy M. Grimm December 2006 Saint Louis, Missouri This dissertation presents a technique for comparing local shape properties for similar three-dimensional objects represented by meshes. We develop a shape representation that is sensitive to ...
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ژورنال
عنوان ژورنال: Journal of Field Robotics
سال: 2015
ISSN: 1556-4959
DOI: 10.1002/rob.21616