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Using 3D GNG-based reconstruction for 6DoF egomotion | IEEE Conference Publication | IEEE Xplore

Using 3D GNG-based reconstruction for 6DoF egomotion


Abstract:

Several recent works deal with 3D data in mobile robotic problems, e.g. mapping. Data come from any kind of sensor (time of flight cameras and 3D lasers) providing a huge...Show More

Abstract:

Several recent works deal with 3D data in mobile robotic problems, e.g. mapping. Data come from any kind of sensor (time of flight cameras and 3D lasers) providing a huge amount of unorganized 3D data. In this paper we detail an efficient method to build complete 3D models from a Growing Neural Gas (GNG). We show that the use of GNG provides better results than other approaches. The GNG obtained is then applied to a sequence. From GNG structure, we propose to calculate planar patches and thus obtaining a fast method to compute the movement performed by a mobile robot by means of a 3D models registration algorithm. Final results of 3D mapping are also shown.
Date of Conference: 31 July 2011 - 05 August 2011
Date Added to IEEE Xplore: 03 October 2011
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Conference Location: San Jose, CA, USA

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