Detail publikačního výsledku

Practical Aspects of Total Least Squares Vectorization of Point Clouds in Mobile Robotics

JELÍNEK, A.

Originální název

Practical Aspects of Total Least Squares Vectorization of Point Clouds in Mobile Robotics

Anglický název

Practical Aspects of Total Least Squares Vectorization of Point Clouds in Mobile Robotics

Druh

Stať ve sborníku v databázi WoS či Scopus

Originální abstrakt

Fast and reliable point cloud processing is a challenging task, especially when online running of the implementation on a mobile robot is required. This paper summarizes generally usable optimization techniques (hardware dependent implementation details are not covered) for vectorization of the point cloud using the least squares approach. Formulas for efficient implementation, methodology of tuning of the control variables, posprocessing for result reliability, as well as illustrative examples are all covered in the text. The discussed suggestions were experimentally proofed to give increased performance (in terms of speed and quality of approximation) with respect to basic implementation.

Anglický abstrakt

Fast and reliable point cloud processing is a challenging task, especially when online running of the implementation on a mobile robot is required. This paper summarizes generally usable optimization techniques (hardware dependent implementation details are not covered) for vectorization of the point cloud using the least squares approach. Formulas for efficient implementation, methodology of tuning of the control variables, posprocessing for result reliability, as well as illustrative examples are all covered in the text. The discussed suggestions were experimentally proofed to give increased performance (in terms of speed and quality of approximation) with respect to basic implementation.

Klíčová slova

robot; point cloud; vectorization; least squares; localization and mapping

Klíčová slova v angličtině

robot; point cloud; vectorization; least squares; localization and mapping

Autoři

JELÍNEK, A.

Rok RIV

2016

Vydáno

13.05.2015

Místo

Krakow, Polsko

ISBN

9781510818279

Kniha

IFAC Conference on Programmable Devices and Embedded Systems

ISSN

1474-6670

Periodikum

Programmable devices and systems

Číslo

2015

Stát

Spojené království Velké Británie a Severního Irska

Strany od

193

Strany do

198

Strany počet

6

URL

https://www.sciencedirect.com/science/article/pii/S240589631500806X

BibTex

@inproceedings{BUT114309,
  author="Aleš {Jelínek}",
  title="Practical Aspects of Total Least Squares Vectorization of Point Clouds in Mobile Robotics",
  booktitle="IFAC Conference on Programmable Devices and Embedded Systems",
  year="2015",
  journal="Programmable devices and systems",
  number="2015",
  pages="193--198",
  address="Krakow, Polsko",
  doi="10.1016/j.ifacol.2015.07.031",
  isbn="9781510818279",
  issn="1474-6670",
  url="https://www.sciencedirect.com/science/article/pii/S240589631500806X"
}