Darius Burschka and Gregory Hager
نویسندگان
چکیده
This paper presents our approach for laser-based local position tracking based on the data explored in a three-dimensional environmental model of an indoor environment. This algorithm is used to substitute the dead reckoning on a mobile robot to allow robust map generation and position dependent task triggering. The underlying concept of the local environmental model used for filtering of the sensor information allows an easy fusion of different sources of the available information, like: a-priori knowledge, explored information and even fusion of the information from other sensor systems. This system is implemented and tested on our mobile robot.
منابع مشابه
Advances in Computational Stereo
Extraction of three-dimensional structure of a scene from stereo images is a problem that has been studied by the computer vision community for decades. Early work focused on the fundamentals of image correspondence and stereo geometry. Stereo research has matured significantly throughout the years, and many advances in computational stereo continue to be made, allowing stereo to be applied to ...
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