Presenting a Technique for Registering Images and Range Data Using a Topological Representation of a Path within an Environment

Filipe Ferreira, Luis Davim, Rui Rocha, Jorge Dias, Vitor Santos

Journal of Automation, Mobile Robotics & Intelligent Systems, 1(3)
Jamris journal, pages 47-55, Sep. 2007.

Abstract

This article presents a novel method to utilize a topological representation of a path that is created from sequences of images from digital cameras and sensor data from range sensors. Leading the robot around the environment during a familiarisation phase creates a topological representation of the environment. While moving down the same path, the robot is able to localise itself within the topological representation that has been previously created. The principal contribution to the state of the art is that, by using a topological representation of the environment, individual 3D datasets acquired from a set of range sensors need not be registered in a single, [Global] Coordinate Reference System. Instead, 3D point clouds for small sections of the environment are indexed to a sequence of multi-sensor views, of images and range data. Such a registration procedure can be useful in the construction of 3D representations of large environments and in the detection of changes that might occur within these environments.

Keywords ─ Sensor feature integration, binary data, Bernoulli mixture model, dimensionality reduction, robot localisation, change detection.

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BibTeX

@ARTICLE(Ferreira_et_al_07,

AUTHOR = "Ferreira, F. and Davim, L. and Rocha, R. and Dias, J. and Silva, V.",

TITLE = "Presenting a Technique for Registering Images and Range Data Using a Topological Representation of a Path within an Environment",

JOURNAL = "Journal of Automation, Mobile Robotics & Intelligent Systems",

YEAR = "2007",

MONTH = "Sep.",

VOLUME = "1",

NUMBER = "3",

PAGES = "47-55"

)

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Last update: 07/09/2007