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This paper describes outdoor localization for a mobile robot using a laser scanner and a three-dimensional (3D) voxel map that is based on outdoor point clouds. A mobile mapping system (MMS) measures outdoor 3D point clouds easily and precisely. The complete 6D state of a mobile robot is estimated by combining dead reckoning and the 3D voxel map. The 2D position and orientation are extended to 3D...
Aerial cables in urban area are complicated. On the other hand, to check interferences between heavy machines and road features, a safety and efficient 3D road environment survey system's necessity is increasing in the field of civil engineering. In this paper, efficient and robust aerial cable measurement method using a Mobile Mapping System (MMS) and its automatic extraction method from 3D point...
In this paper, a unique dense 3D shape reconstruction method featuring GPS/DR coupled omni-direction multi-baseline motion stereo system is presented. The epipolar plane equation between two omni-directional vision images is computed from the GPS/DR's position and posture information. Then, the precise epipolar lines can be obtained robustly by projecting the intersection line between the epipolar...
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