書誌事項
- タイトル別名
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- Global Localization for Mobile Robot using Large-scale 3D Environmental Map and RGB-D Camera
- ダイキボ ナ サンジゲン カンキョウ チズ ト RGB-Dカメラ オ モチイタ イドウ ロボット ノ コウイキ イチ ドウテイ
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抄録
We proposed a global positioning technique in 3D environment using 3D geometrical map and a RGB-D camera based on a ND (Normal Distributions) voxel matching. Firstly, a 3D geometrical map represented by point-cloud is converted to ND voxels, and eigen ellipses are extracted. Meanwhile, ND voxels are also created from a range image captured by a RGB-D camera, and eigen ellipses and seven representative points are calculated in each ND voxel. For global localization, point-plane and plane-plane correspondences are tested and an optimum global position is determined using a particle filter. Experimental results show that the proposed technique is robust for the similarity in a 3D map and converges more stably than a standard maximum likelihood method using a beam model.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 31 (9), 896-906, 2013
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390001204727915520
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- NII論文ID
- 130003387200
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 025012371
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- 抄録ライセンスフラグ
- 使用不可