S Yu, C Fu, AK Gostar, M Hu - Sensors, 2020 - mdpi.com
When multiple robots are involved in the process of simultaneous localization and mapping (SLAM), a global map should be constructed by merging the local maps built by individual …
This paper presents the formalization of the closest point plane representation and an analysis of its incorporation in 3D indoor simultaneous localization and mapping (SLAM) …
A Kaiser, JA Ybanez Zepeda… - Computer Graphics …, 2019 - Wiley Online Library
The amount of captured 3D data is continuously increasing, with the democratization of consumer depth cameras, the development of modern multi‐view stereo capture setups and …
M Kaess - 2015 IEEE International Conference on Robotics …, 2015 - ieeexplore.ieee.org
Simultaneous localization and mapping with infinite planes is attractive because of the reduced complexity with respect to both sparse point-based and dense volumetric methods …
We present a simultaneous localization and mapping (SLAM) algorithm for a hand-held 3D sensor that uses both points and planes as primitives. We show that it is possible to register …
Real-time plane extraction in 3D point clouds is crucial to many robotics applications. We present a novel algorithm for reliably detecting multiple planes in real time in organized …
Indoor environments have abundant presence of high-level semantic information which can provide a better understanding of the environment for robots to improve the uncertainty in …
In this work, we develop a novel keyframe-based dense planar SLAM (KDP-SLAM) system, based on CPU only, to reconstruct large indoor environments in real-time using a hand-held …
AJ Trevor, S Gedikli, RB Rusu… - … Perception Mapping and …, 2013 - cs.gmu.edu
Segmentation is an important step in many perception tasks, such as object detection and recognition. We present an approach to organized point cloud segmentation and its …