Accelerated patch-based planar clustering of noisy range images in indoor environments for robot mapping.
Ravi KaushikJizhong XiaoPublished in: Robotics Auton. Syst. (2012)
Keyphrases
- range images
- indoor environments
- mobile robot
- range data
- laser range finder
- monocular vision
- path planning
- robotic systems
- surface patches
- autonomous mobile robots
- surface reconstruction
- navigation tasks
- range image segmentation
- planar patches
- three dimensional
- range sensors
- photorealistic
- outdoor environments
- intensity images
- partially overlapping
- autonomous robots
- multiple views
- surface segmentation
- multiple range images
- curved surfaces
- multi view
- topological map
- simultaneous localization and mapping
- range image registration
- mobile robotics
- object surface
- range scans
- image segmentation
- dynamic environments
- perspective projection
- structured light
- viewpoint
- iso surfaces