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Instead of using an expensive 3D Laser scanner, a 3D volumetric representation of environments for the Simultaneous Localization and Mapping (SLAM) with a 2D Laser Range Finder, augmented with an additional self-integrated servomechanism was devised. Since the computing time of Iterative Closest Points (ICP) algorithm mainly depends on the numbers of cloud points, we proposed an effective edge feature...
We present a technique for computing the convolution of an image with LoG (Laplacian-of-Gaussian) masks. It is well known that a LoG of variance a can be decomposed as a Gaussian mask and a LoG of variance ??1 < ??. We take advantage of the specific spectral characteristics of these filters in our computation: the LoG is a bandpass filter; we can therefore fold the spectrum of the image (after...
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