Relaxing loop-closing errors in 3D maps based on planar surface patches.
Kaustubh PathakMax PfingsthornNarunas VaskeviciusAndreas BirkPublished in: ICAR (2009)
Keyphrases
- surface patches
- loop closing
- range images
- d objects
- topological map
- free form
- surface normals
- range data
- mobile robot
- salient features
- multiple images
- surface reconstruction
- scene structure
- hough transform
- planar surfaces
- simultaneous localization and mapping
- robot navigation
- shape from shading
- single image
- position and orientation
- image pairs