3D PCD map creation for LiDAR localization using a spherical camera.
Yusuke IsozumiSatoshi ItoRyosuke MoritaYuki FunaboraPublished in: SICE (2021)
Keyphrases
- image based localization
- panoramic images
- wide angle
- laser rangefinder
- field of view
- hand held
- vision system
- monte carlo localization
- position estimation
- loop closing
- conformal mapping
- line features
- focal length
- camera calibration
- three dimensional
- camera parameters
- robot localization
- video camera
- point cloud
- maximum a posteriori
- parametric representation
- single camera
- localization algorithm
- omni directional
- stereo camera
- computer vision
- spherical harmonics
- real time
- position and orientation
- camera motion
- structure from motion
- multiple cameras
- multiple images
- multi camera
- high resolution
- mobile robot
- pose estimation
- image acquisition
- ego motion
- lidar data
- radial distortion
- camera views
- time of flight
- camera pose