Stochastic simulation in surface reconstruction and application to 3D mapping

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dc.contributor.author Leal, Jeff en_US
dc.contributor.author Scheding, Steve en_US
dc.contributor.author Dissanayake, Gamini en_US
dc.contributor.editor Hamel WR, Maciejewski AA en_US
dc.date.accessioned 2009-11-09T05:36:49Z
dc.date.available 2009-11-09T05:36:49Z
dc.date.issued 2002 en_US
dc.identifier 2004003387 en_US
dc.identifier.citation Leal Jeff, Scheding Steve, and Dissanayake Gamini 2002, 'Stochastic simulation in surface reconstruction and application to 3D mapping', Institute of Electrical and Electronic Engineering, Washington DC, USA, pp. 1765-1770. en_US
dc.identifier.issn 0-7803-7272-7 en_US
dc.identifier.other E1 en_US
dc.identifier.uri http://hdl.handle.net/10453/2837
dc.description.abstract Three dimensional terrain maps are useful representations of environments for various robotic applications. Unfortunately, sensor data (from which such maps are built) is uncertain and contains errors which are usually not accounted for in existing terrain building algorithms. In real-time applications, it is necessary to quantify these uncertainties to allow map construction decisions to be made online. This paper addresses this issue by providing a representation that explicitly accounts for sensing uncertainty. This is achieved through the use of stochastic simulation techniques. The result is in an algorithm for online 3D multiresolution surface reconstruction of unknown, and unstructured environments. Results of the surface reconstruction algorithm in a real environment are presented. en_US
dc.publisher Institute of Electrical and Electronic Engineering en_US
dc.relation.isbasedon http://dx.doi.org/10.1109/ROBOT.2002.1014797 en_US
dc.title Stochastic simulation in surface reconstruction and application to 3D mapping en_US
dc.parent Proceedings of IEEE International Conference on Robotics and Automation - Vol 2 en_US
dc.journal.volume en_US
dc.journal.number en_US
dc.publocation Washington DC, USA en_US
dc.identifier.startpage 1765 en_US
dc.identifier.endpage 1770 en_US
dc.cauo.name FEIT.School of Elec, Mech and Mechatronic Systems en_US
dc.conference Verified OK en_US
dc.conference.location Washington DC,USA en_US
dc.for 091303 en_US
dc.personcode 0000023380 en_US
dc.personcode 0000022674 en_US
dc.personcode 011224 en_US
dc.percentage 50 en_US
dc.classification.name Autonomous Vehicles en_US
dc.classification.type FOR-08 en_US
dc.custom IEEE International Conference on Robots and Automation en_US
dc.date.activity 20020511 en_US
dc.location.activity Washington DC,USA en_US
dc.description.keywords digital simulation mobile robots signal reconstruction terrain mapping en_US
dc.staffid 011224 en_US


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