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dc.contributor.authorPeasley, Brian
dc.contributor.authorBirchfield, Stan
dc.contributor.authorCunningham, Alexander
dc.contributor.authorDellaert, Frank
dc.date.accessioned2013-03-01T18:31:36Z
dc.date.available2013-03-01T18:31:36Z
dc.date.issued2012-10
dc.identifier.citationPeasley, B.; Birchfield, S.; Cunningham, A.; & Dellaert, F. (2012). “Accurate On-Line 3D Occupancy Grids Using Manhattan World Constraints”. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), 7-12 October 2012, pp. 5283-5290.en_US
dc.identifier.isbn978-1-4673-1737-5 (Print)
dc.identifier.issn2153-0858
dc.identifier.urihttp://hdl.handle.net/1853/46286
dc.description©2012 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.en_US
dc.descriptionPresented at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), 7-12 October 2012, Vilamoura, Algarve, Portugal.
dc.descriptionDOI: 10.1109/IROS.2012.6386157
dc.description.abstractIn this paper we present an algorithm for constructing nearly drift-free 3D occupancy grids of large indoor environments in an online manner. Our approach combines data from an odometry sensor with output from a visual registration algorithm, and it enforces a Manhattan world constraint by utilizing factor graphs to produce an accurate online estimate of the trajectory of a mobile robotic platform. We also examine the advantages and limitations of the octree data structure representation of a 3D environment. Through several experiments in environments with varying sizes and construction we show that our method reduces rotational and translational drift significantly without performing any loop closing techniques.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectFactor graphen_US
dc.subjectMan-made environmentsen_US
dc.subjectManhattan world constrainten_US
dc.subjectMobile roboten_US
dc.subjectOctreesen_US
dc.subjectOnlineen_US
dc.subjectSensoren_US
dc.subject3D environmentsen_US
dc.subject3D mapsen_US
dc.titleAccurate On-Line 3D Occupancy Grids Using Manhattan World Constraintsen_US
dc.typeProceedingsen_US
dc.contributor.corporatenameGeorgia Institute of Technology. Center for Robotics and Intelligent Machinesen_US
dc.contributor.corporatenameClemson University. Dept. of Electrical and Computer Engineeringen_US
dc.publisher.originalInstitute of Electrical and Electronics Engineers
dc.identifier.doi10.1109/IROS.2012.6386157
dc.embargo.termsnullen_US


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