QQ客服 官方微博 反馈留言

	Planar building facade segmentation and mapping using appearance and geometric constraints
	Lee Joseph; Lu Yan; Song Dezhen
	2014
会议名称	2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
会议地点	Chicago, IL, United states
英文摘要	Segmentation and mapping of planar building facades (PBFs) can increase a robot's ability of scene understanding and localization in urban environments which are often quasi-rectilinear and GPS-challenged. PBFs are basic components of the quasi-rectilinear environment. We propose a passive vision-based PBF segmentation and mapping algorithm by combining both appearance and geometric constraints. We propose a rectilinear index which allows us to segment out planar regions using appearance data. Then we combine geometric constraints such as reprojection errors, orientation constraints, and coplanarity constraints in an optimization process to improve the mapping of PBFs. We have implemented the algorithm and tested it in comparison with state-of-the-art. The results show that our method can reduce the angular error of scene structure by an average of 82.82%.
收录类别	EI
语种	英语
内容类型	会议论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/6217]
专题	深圳先进技术研究院_其他
作者单位	2014
推荐引用方式 GB/T 7714	Lee Joseph,Lu Yan,Song Dezhen. Planar building facade segmentation and mapping using appearance and geometric constraints[C]. 见:2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014. Chicago, IL, United states.

个性服务

查看访问统计

相关权益政策

暂无数据

收藏/分享

除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。