A hierarchical SLAM for uncertain range data.
Kenta KitajimaHiroaki MasuzawaJun MiuraJunji SatakePublished in: MFI (2010)
Keyphrases
- range data
- range images
- d objects
- laser range sensor
- surface reconstruction
- image data
- laser range finder
- visual odometry
- structured light
- intensity images
- object models
- complex shapes
- mobile robot
- laplacian operator
- icp algorithm
- registration of range images
- range scans
- curved surfaces
- image sequences
- mobile robotics
- indoor environments
- surface normals
- object tracking
- three dimensional