Naslov
Global Localization Based on 3D Planar Surface Segments

Autori
Cupec, Robert ; Nyarko, Emmanuel Karlo ; Filko, Damir ; Kitanov, Andrej ; Petrović, Ivan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of The Croatian Computer Vision Workshop, Year 1 / Lončarić, Sven ; Šegvić, Siniša - Zagreb : Fakultet elektrotehnike i računarstva Sveučilišta u Zagrebu, 2013, 31-36

Skup
2nd Croatian Computer Vision Workshop (CCVW 2013)

Mjesto i datum
Zagreb, Hrvatska, 19.09.2013

Vrsta sudjelovanja
Poster

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
global localization; planar surfaces; Kinect; Extended Kalman Filter

Sažetak
Global localization of a mobile robot using planar surface segments extracted from depth images is considered. The robot’s environment is represented by a topological map consisting of local models, each representing a particular location modeled by a set of planar surface segments. The discussed localization approach segments a depth image acquired by a 3D camera into planar surface segments which are then matched to model surface segments. The robot pose is estimated by the Extended Kalman Filter using surface segment pairs as measurements. The reliability and accuracy of the considered approach are experimentally evaluated using a mobile robot equipped by a Microsoft Kinect sensor.

Izvorni jezik
Engleski

Znanstvena područja
Računarstvo

POVEZANOST RADA