Publication detail

On registration of vector maps with known correspondences

JELÍNEK, A. LIGOCKI, A.

Original Title

On registration of vector maps with known correspondences

Type

journal article in Web of Science

Language

English

Original Abstract

Data association and registration is an important and actively researched topic in robotics. This paper deals with registration of two sets of line segments, which is especially useful in mapping applications. Our method is non-iterative, finding an optimal transformation in a single step, in a time proportional only to a number of the corresponding line segments. The procedure also provides diagnostic measures of reliability of the computation and of similarity of the data sets being registered. At this point, the method presumes known correspondences, which is limiting, but the discussion, in the end, reveals some possibilities to overcome this issue. Practical properties are demonstrated on a typical task of localization of a robot with a known map.

Keywords

correspondence search; least squares; point cloud; registration; vectorization

Authors

JELÍNEK, A.; LIGOCKI, A.

Released

1. 9. 2019

Publisher

VSB-Technical University of Ostrava

ISBN

1804-3119

Periodical

Advances in Electrical and Electronic Engineering - intenetový časopis (http://advances.utc.sk)

Year of study

17

Number

3

State

Czech Republic

Pages from

330

Pages to

342

Pages count

13

URL

http://advances.utc.sk/index.php/AEEE/article/view/3451

Full text in the Digital Library

http://hdl.handle.net/11012/180815

BibTex

@article{BUT159361,
  author="Aleš {Jelínek} and Adam {Ligocki}",
  title="On registration of vector maps with known correspondences",
  journal="Advances in Electrical and Electronic Engineering - intenetový časopis
(http://advances.utc.sk)",
  year="2019",
  volume="17",
  number="3",
  pages="330--342",
  doi="10.15598/aeee.v17i3.3451",
  issn="1804-3119",
  url="http://advances.utc.sk/index.php/AEEE/article/view/3451"
}