Obiekt
Tytuł: Efficient RGB-D data processing for feature-based self-localization of mobile robots
Autor:
Kraft, Marek ; Nowicki, Michał ; Penne, Rudi ; Schmidt, Adam ; Skrzypczyński, Piotr
Typ zasobu:
Współtwórca:
Korbicz, Józef (1951- ) - red. ; Uciński, Dariusz - red.
Tytuł publikacji grupowej:
Abstract:
The problem of position and orientation estimation for an active vision sensor that moves with respect to the full six degrees of freedom is considered. The proposed approach is based on point features extracted from RGB-D data. This work focuses on efficient point feature extraction algorithms and on methods for the management of a set of features in a single RGB-D data frame. ; While the fast, RGB-D-based visual odometry system described in this paper builds upon our previous results as to the general architecture, the important novel elements introduced here are aimed at improving the precision and robustness of the motion estimate computed from the matching point features of two RGB-D frames. Moreover, we demonstrate that the visual odometry system can serve as the front-end for a pose-based simultaneous localization and mapping solution. ; The proposed solutions are tested on publicly available data sets to ensure that the results are scientifically verifiable. The experimental results demonstrate gains due to the improved feature extraction and management mechanisms, whereas the performance of the whole navigation system compares favorably to results known from the literature.
Wydawca:
Zielona Góra: Uniwersytet Zielonogórski
Identyfikator zasobu:
DOI:
Strony:
Źródło:
AMCS, volume 26, number 1 (2016) ; kliknij tutaj, żeby przejść
Jezyk:
Prawa do dysponowania publikacją:
Biblioteka Uniwersytetu Zielonogórskiego
Kolekcje, do których przypisany jest obiekt:
- Zielonogórska Biblioteka Cyfrowa > Repozytorium > Jednostki organizacyjne > Wydział Informatyki, Elektrotechniki i Automatyki
- Zielonogórska Biblioteka Cyfrowa > Repozytorium > Typy utworów > Artykuły
- Zielonogórska Biblioteka Cyfrowa > Repozytorium > Czasopisma naukowe i serie wydawnicze UZ > International Journal of Applied Mathematics and Computer Science (AMCS) > International Journal of Applied Mathematics and Computer Science (AMCS) (2016)
Data ostatniej modyfikacji:
2024-11-05
Data dodania obiektu:
2024-05-09
Liczba wyświetleń treści obiektu:
31
Wszystkie dostępne wersje tego obiektu:
https://zbc.uz.zgora.pl/publication/88942
Wyświetl opis w formacie RDF:
Wyświetl opis w formacie OAI-PMH:
-
International Journal of Applied Mathematics and Computer Science (AMCS)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 26 (2016)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 26, number 1 (2016)
- Positivity and stability of fractional descriptor time-varying discrete-time linear systems
- An integrodifferential approach to modeling, control, state estimation and optimization for heat transfer systems
- Nonlinear analysis of vehicle control actuations based on controlled invariant sets
- Robust fault detection of singular LPV systems with multiple time-varying delays
- Efficient RGB-D data processing for feature-based self-localization of mobile robots
- RGB-D terrain perception and dense mapping for legged robots
- Efficient generation of 3D surfel maps using RGB-D sensors
- Connections between object classification criteria using an ultrasonic bi-sonar system
- Stability analysis and H[the sign of infinity] control of discrete T-S fuzzy hyperbolic systems
- A mathematical model for file fragment diffusion and a neural predictor to manage priority queues over BitTorrent
- Adaptive predictions of the euro/złoty currency exchange rate using state space wavelet networks and forecast combinations
- A dynamic model of classifier competence based on the local fuzzy confusion matrix and the random reference classifier
- Using the one-versus-rest strategy with samples balancing to improve pairwise coupling classification
- Note onset detection in musical signals via neural-network-based multi-ODF fusion
- The performance profile: A multi-criteria performance evaluation method for test-based problems
- Simultaneous routing and flow rate optimization in energy-aware computer networks
- Modelling DNA and RNA secondary structures using matrix insertion-deletion systems
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 26, number 2 (2016)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 26, number 3 (2016)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 26, number 4 (2016)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 26, number 1 (2016)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 25 (2015)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 24 (2014)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 23 (2013)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 22 (2012)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 21 (2011)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 20 (2010)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 19 (2009)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 18 (2008)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 17 (2007)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 16 (2006)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 15 (2005)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 13 (2003)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 12 (2002)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 11 (2001)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 10 (2000)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 9 (1999)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 8 (1998)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 7 (1997)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 6 (1996)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 5 (1995)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 4 (1994)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 3 (1993)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 2 (1992)
-
International Journal of Applied Mathematics and Computer Science (AMCS),volume 1 (1991)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 26 (2016)
| Nazwa wydania | Data |
|---|---|
| Efficient RGB-D data processing for feature-based self-localization of mobile robots | 2024-11-05 |
