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Tensor-voting-based navigation for robotic inspection of 3D surfaces using lidar point clouds.
Elena Stumm
Andreas Breitenmoser
François Pomerleau
Cédric Pradalier
Roland Siegwart
Published in:
Int. J. Robotics Res. (2012)
Keyphrases
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point cloud
tensor voting
surface reconstruction
structure from motion
geometric structure
computational framework
perceptual grouping
lidar data
point sets
point cloud data
vector field
smooth surfaces
normal vectors
laser scanner
computer vision
manifold learning