Abstract
| Original language | Japanese |
|---|---|
| Pages (from-to) | 896-906 |
| Number of pages | 11 |
| Journal | 日本ロボット学会誌 |
| Volume | 31 |
| Issue number | 9 |
| DOIs | |
| Publication status | Published - 2013 |
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大規模な三次元環境地図とRGB-Dカメラを用いた移動ロボットの広域位置同定. / 鄭龍振; 倉爪亮; 岩下友美; 長谷川勉.
In: 日本ロボット学会誌, Vol. 31, No. 9, 2013, p. 896-906.Research output: Contribution to journal › Article
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TY - JOUR
T1 - 大規模な三次元環境地図とRGB-Dカメラを用いた移動ロボットの広域位置同定
AU - 鄭, 龍振
AU - 倉爪, 亮
AU - 岩下, 友美
AU - 長谷川, 勉
PY - 2013
Y1 - 2013
N2 - We proposed a global positioning technique in 3D environment using 3D geometrical map and a RGB-D camera based on a ND (Normal Distributions) voxel matching. Firstly, a 3D geometrical map represented by point-cloud is converted to ND voxels, and eigen ellipses are extracted. Meanwhile, ND voxels are also created from a range image captured by a RGB-D camera, and eigen ellipses and seven representative points are calculated in each ND voxel. For global localization, point-plane and plane-plane correspondences are tested and an optimum global position is determined using a particle filter. Experimental results show that the proposed technique is robust for the similarity in a 3D map and converges more stably than a standard maximum likelihood method using a beam model.
AB - We proposed a global positioning technique in 3D environment using 3D geometrical map and a RGB-D camera based on a ND (Normal Distributions) voxel matching. Firstly, a 3D geometrical map represented by point-cloud is converted to ND voxels, and eigen ellipses are extracted. Meanwhile, ND voxels are also created from a range image captured by a RGB-D camera, and eigen ellipses and seven representative points are calculated in each ND voxel. For global localization, point-plane and plane-plane correspondences are tested and an optimum global position is determined using a particle filter. Experimental results show that the proposed technique is robust for the similarity in a 3D map and converges more stably than a standard maximum likelihood method using a beam model.
U2 - 10.7210/jrsj.31.896
DO - 10.7210/jrsj.31.896
M3 - 記事
VL - 31
SP - 896
EP - 906
JO - 日本ロボット学会誌
JF - 日本ロボット学会誌
SN - 0289-1824
IS - 9
ER -