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Three-dimensional laser scanning can acquire point cloud data with high spatial resolution. However, for practical applications, such as point cloud fitting and 3-D reconstruction, there is usually significant data redundancy, which reduces the operational efficiency. In this letter, we propose a fast point cloud fitting algorithm that uses point cloud simplification to preserve feature boundaries...
This paper proposes a novel global localization approach that uses hybrid maps of objects and spatial layouts. We model indoor environments using the following visual cues from a stereo camera: local invariant features for object recognition and their 3D positions for object location representation. We also use a 2D laser range finder. Therefore, we can build a hybrid local node for a topological...
This paper proposes a novel vision-based global localization approach that uses an object and spatial layout based hybrid map. For environment modeling, we use the following visual cues with a stereo camera; local invariant features for object recognition and their 3D positions for object position representation. Also, we use the depth information at the horizontal centerline in images where the optical...
This paper presents a new object entity based global localization approach with stereo camera. A local invariant feature and stereo depth information are used as visual features. The map we use here is a hybrid of global topological map and local object location map. The topological map includes some semantic information about the representing space and the object entities in the space. The object...
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