距離データに対するNDTを用いた高速な差分検出手法の提案

Translated title of the contribution: High-speed spatial change detection using point clouds and NDT

桂 右京, 倉爪 亮, 石上 智英, 岡田 典

Research output: Contribution to journalArticle

Abstract

<p>This research aims to develop a high-speed spatial change detection technique using point clouds and NDT (Normal Distribution Transformation). Point cloud obtained from a range sensor such as a RGB-D camera is transformed to voxel representation using NDT, and aligned and compared with map data measured by a high-precision laser scanner. Three techniques are introduced to make the proposed system robust for noise, that is, classification of point distribution, overlapping of voxels, and voting using consecutive sensing.</p>
Translated title of the contributionHigh-speed spatial change detection using point clouds and NDT
Original languageJapanese
Pages (from-to)2A2-O08
Journalロボティクス・メカトロニクス講演会講演概要集
Volume2017
Issue number0
DOIs
Publication statusPublished - 2017

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