a fast and robust feature based scan matching method in 3d slam and the effect of sampling...

prev

next

out of 16

Download A Fast and Robust Feature Based Scan Matching Method in 3D SLAM and the Effect of Sampling Strategies

Upload: aurel-gs

Post on 04-Jun-2018

222 views

Category:

Documents

0 download

Report

Download

Embed Size (px):

TRANSCRIPT

8/13/2019 A Fast and Robust Feature Based Scan Matching Method in 3D SLAM and the Effect of Sampling Strategies

1/16
8/13/2019 A Fast and Robust Feature Based Scan Matching Method in 3D SLAM and the Effect of Sampling Strategies

2/16
8/13/2019 A Fast and Robust Feature Based Scan Matching Method in 3D SLAM and the Effect of Sampling Strategies

3/16
8/13/2019 A Fast and Robust Feature Based Scan Matching Method in 3D SLAM and the Effect of Sampling Strategies

4/16
8/13/2019 A Fast and Robust Feature Based Scan Matching Method in 3D SLAM and the Effect of Sampling Strategies

5/16
8/13/2019 A Fast and Robust Feature Based Scan Matching Method in 3D SLAM and the Effect of Sampling Strategies

6/16
8/13/2019 A Fast and Robust Feature Based Scan Matching Method in 3D SLAM and the Effect of Sampling Strategies

7/16
8/13/2019 A Fast and Robust Feature Based Scan Matching Method in 3D SLAM and the Effect of Sampling Strategies

8/16
8/13/2019 A Fast and Robust Feature Based Scan Matching Method in 3D SLAM and the Effect of Sampling Strategies

9/16
8/13/2019 A Fast and Robust Feature Based Scan Matching Method in 3D SLAM and the Effect of Sampling Strategies

10/16
8/13/2019 A Fast and Robust Feature Based Scan Matching Method in 3D SLAM and the Effect of Sampling Strategies

11/16
8/13/2019 A Fast and Robust Feature Based Scan Matching Method in 3D SLAM and the Effect of Sampling Strategies

12/16
8/13/2019 A Fast and Robust Feature Based Scan Matching Method in 3D SLAM and the Effect of Sampling Strategies

13/16
8/13/2019 A Fast and Robust Feature Based Scan Matching Method in 3D SLAM and the Effect of Sampling Strategies

14/16
8/13/2019 A Fast and Robust Feature Based Scan Matching Method in 3D SLAM and the Effect of Sampling Strategies

15/16
8/13/2019 A Fast and Robust Feature Based Scan Matching Method in 3D SLAM and the Effect of Sampling Strategies

16/16

POU-SLAM: Scan-to-Model Matchingon B ased Voxels

A Robust Laser-Inertial Odometry and Mapping Method for ...Jean-Emmanuel [17] presents a novel laser SLAM method, which uses a speciﬁc sampling strategy and new scan-to-model matching

The Design of a Fully Autonomous Robot System for …...HectorSLAM is a 2D SLAM system based on robust scan matching [5]. This module focused on the real-time estimation of the robot

NDT Scan Matching Method for High Resolution Grid Mapvigir.missouri.edu/~gdesouza/Research/Conference... · NDT Scan Matching Method for High Resolution Grid Map Tomohito Takubo,

Fast Laser Scan Matching using Polar Coordinates · Fast Laser Scan Matching using Polar Coordinates ... Such approachesinterpret laser scans and require the presence of chosen features

LSD-SLAM: Large-Scale Direct Monocular SLAM

Slam PowerPoint

Laser Scan Matching in Polar Coordinates with Application to SLAM Albert Diosi Lindsay Kleeman ARC Centre for Perceptive and Intelligent Machines in Complex

Shape Matching for Model Alignment 3D Scan Matching and Registration, Part I ICCV 2005 Short Course Michael Kazhdan Johns Hopkins University

Automatic vs. Manual Code Analysis - OWASP …...Some tools for source code scan Tool Languages Type ITS4 C/C++ Token matching Splint C Semantic matching Flawfinder C/C++ Text matching

Sonar Scan Matching for Simultaneous Localization and

GPGM-SLAM: Towards a Robust SLAM System for Unstructured

1 Scan-SLAM: Combining EKF-SLAM and Scan …1 Scan-SLAM: Combining EKF-SLAM and Scan Correlation 5 µ¯ = p¯i −q¯j Σ = Pi +Qj The result is a likelihood function that provides

Offline Simultaneous Localization and Mapping (SLAM) … · – Odometer data – Range measurements • Scan matching impossible – “Random” measurements in corners – Data

Robust Online Map Merging System Using Laser Scan Matching …vigir.missouri.edu/~gdesouza/Research/Conference_CDs/IEEE_IROS_… · Robust Online Map Merging System using Laser Scan

Scan-Sharing for Optimizing RDF Graph Pattern Matching on MapReduce

EGO-SLAM: A Robust Monocular SLAM for Egocentric Videos

Market scan - QSXL · Mentions NEN3140 Main requirements 3. Search rates Market scan Candidates seeming to matching the criteria based on manual screening of their profile 80% Contacted

The Efﬁcient Extension of Globally Consistent Scan ... · The Efﬁcient Extension of Globally Consistent Scan Matching to 6 DoF Dorit Borrmann Jan Elseberg Kai Lingemann Andreas

Robot Mapping Scan-Matching in 5 Minutesais.informatik.uni-freiburg.de/teaching/ws12/... · Scan-matching tries to incrementally align two scans or a map to a scan, without revising

Using MATLAB and Simulink with ROS · 2018. 10. 12. · 12 EKF SLAM Figure SLAM Edit TOO-IS Window Help Laser Scan Processing Laser Scan Binary Occupancy Grid Line Detection Hough

Feature-Based Laser Scan Matching and Its … Article Feature-Based Laser Scan Matching and Its Application for Indoor Mapping Jiayuan Li 2, Ruofei Zhong 1, Qingwu Hu 2,* and Mingyao

Scan-Matching using ICP andRANSACgrisetti/teaching/lectures-ls-slam-master_2014… · Part of the material of this course is taken from the Robotics 2lectures given by G.Grisetti,

Scan Matching - People @ EECS at UC Berkeley · Scan-matching objectives, even when not meaningful probabilities, can be used in graphSLAM / pose-graph SLAM (see later) ! ... (TrICP)

NID-SLAM: Robust Monocular SLAM using Normalised ...mobile/Papers/2017CVPR_pascoe.pdfNID-SLAM: Robust Monocular SLAM using Normalised Information Distance Geoffrey Pascoe, Will Maddern,

Bridge Lesson Intermediate Slam Bidding Techniques The ... Slam Bidding.pdf · Advanced bidding techniques like Variable RKCB and Spiral Scan bids will not be discussed. Exclusion

Slam 2014 - PDF - Slam on Demand Brochure

A Flexible and Scalable SLAM System with Full 3D … · The real-time correlative scan matching approach [13] uses an exhaustive sampling based approach for scan matching. Using several

Scan Matching - Peoplepabbeel/cs287-fa13/slides/ScanMatching.pdf · Scan Matching Pieter Abbeel UC Berkeley EECS Many slides adapted from Thrun, Burgard and Fox, Probabilistic Robotics

SLAM Accelerated Using Hardware to improve SLAM algorithm performance

XML Path Matching: Implementing the X-scan operator and

SEIF, EnKF , EKF SLAM, Fast SLAM, Graph SLAM Pieter Abbeel UC Berkeley EECS