Augmenting Mobile Robot Geometric Map with Photometric Information

Piotr Skrzypczyński

doi:10.1007/978-3-540-93905-4_1

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Title

Augmenting Mobile Robot Geometric Map with Photometric Information

Authors

Piotr Skrzypczyński (WE) ^{[ 1 ][ P ]}

^{[ 1 ]} Instytut Automatyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | ^{[ P ]} employee

Year of publication

2009

Chapter type

chapter in monograph

Publication language

english

Abstract

EN In this paper we discuss methods to increase the discriminative properties of the laser-based geometric features used in SLAM by employing monocular vision data. Vertical edges extracted from images enable to estimate the length of partially observed line segments. Salient visual features are represented as the SIFT descriptors. These photometric features augment the 2D line segments extracted from the laser data and form a new feature type.

Pages (from - to)

3 - 10

DOI

10.1007/978-3-540-93905-4_1

URL

https://link.springer.com/chapter/10.1007/978-3-540-93905-4_1

Book

Computer Recognition Systems 3

System created by Poznań University of Technology and Poznan Supercomputing and Networking Center

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