Detail publikačního výsledku

On registration of vector maps with known correspondences

JELÍNEK, A.

Originální název

On registration of vector maps with known correspondences

Anglický název

On registration of vector maps with known correspondences

Druh

Stať ve sborníku v databázi WoS či Scopus

Originální abstrakt

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, which we are examining. Practical properties are demonstrated on a typical task of localization of a robot with a known map.

Anglický abstrakt

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, which we are examining. Practical properties are demonstrated on a typical task of localization of a robot with a known map.

Klíčová slova

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

Klíčová slova v angličtině

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

Autoři

JELÍNEK, A.

Rok RIV

2019

Vydáno

21.05.2018

Nakladatel

IEEE

Místo

Žilina

ISBN

978-1-5386-4758-5

Kniha

Proceedings of 12th International Conference Elektro 2018

Strany od

1

Strany do

6

Strany počet

6

URL

https://ieeexplore.ieee.org/document/8398367/

Plný text v Digitální knihovně

http://hdl.handle.net/11012/85283

BibTex

@inproceedings{BUT148111,
  author="Aleš {Jelínek}",
  title="On registration of vector maps with known correspondences",
  booktitle="Proceedings of 12th International Conference Elektro 2018",
  year="2018",
  pages="1--6",
  publisher="IEEE",
  address="Žilina",
  doi="10.1109/ELEKTRO.2018.8398367",
  isbn="978-1-5386-4758-5",
  url="https://ieeexplore.ieee.org/document/8398367/"
}

Dokumenty

Elektro2018_Jelinek