3D Landmarks Extraction from a Range Imager Data for SLAM

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dc.contributor.author Hu, Gibson en_US
dc.contributor.author Huang, Shoudong en_US
dc.contributor.author Dissanayake, Gamini en_US
dc.contributor.author Wang, Jack en_US
dc.contributor.editor Steve Scheding en_US
dc.date.accessioned 2010-05-28T10:01:50Z
dc.date.available 2010-05-28T10:01:50Z
dc.date.issued 2009 en_US
dc.identifier 2009001645 en_US
dc.identifier.citation Wang Jianguo et al. 2009, '3D Landmarks Extraction from a Range Imager Data for SLAM', Australian Robotics and Automation Association Inc., Sydney, Australia, pp. 1-8. en_US
dc.identifier.issn 978-0-9807404-0-0 en_US
dc.identifier.other E1 en_US
dc.identifier.uri http://hdl.handle.net/10453/11099
dc.description.abstract This paper introduces a new 3D landmark extraction method using the range and intensity images captured by a single range camera. Speeded up robust features (SURF) detection and matching is used to extract and match features from the intensity images. The range image information is used to transfer the selected 2D features into 3D points. The range measurement bias and uncertainty of the range camera are analysed, and their models are developed for improving the range estimation. After outliersa?? detection and removal using random sampling consensus (RANSAC), reliable 3D points are obtained. 3D landmarks for imultaneous localisation and mapping (SLAM) are selected from the 3D points considering several factors, such as the uncertainty and geometry of their locations. Because of the availability of the SURF descriptor, the data association in SLAM has been performed using both the geometry and the descriptor information. The proposed method is tested in unstructured indoor environments, where the range camera moves in six degrees of freedom. Experimental results demonstrate the success of the proposed 3D landmark extraction method for SLAM. en_US
dc.language en_US
dc.publisher Australian Robotics and Automation Association Inc. en_US
dc.relation.isbasedon NA en_US
dc.title 3D Landmarks Extraction from a Range Imager Data for SLAM en_US
dc.parent Proceedings of the 2009 Australasian Conference on Robotics and Automation en_US
dc.journal.volume en_US
dc.journal.number en_US
dc.publocation Sydney, Australia en_US
dc.identifier.startpage 1 en_US
dc.identifier.endpage 8 en_US
dc.cauo.name FEIT.Faculty of Engineering & Information Technology en_US
dc.conference Verified OK en_US
dc.for 090602 en_US
dc.personcode 106419 en_US
dc.personcode 10197135 en_US
dc.personcode 040006 en_US
dc.personcode 011224 en_US
dc.percentage 100 en_US
dc.classification.name Control Systems, Robotics and Automation en_US
dc.classification.type FOR-08 en_US
dc.edition en_US
dc.custom Australasian Conference on Robotics and Automation en_US
dc.date.activity 20091202 en_US
dc.location.activity Sydney, Australia en_US
dc.description.keywords NA en_US
dc.staffid en_US
dc.staffid 011224 en_US


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