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Fusion of geometrical and visual information for localization and mapping in outdoor environments

 
: Emter, T.; Ulrich, T.

:

Institute of Electrical and Electronics Engineers -IEEE-:
Ubiquitous Positioning, Indoor Navigation, and Location Based Service, UPINLBS 2012 : Helsinki, Finland, 3 - 4 October 2012; 2nd International Conference and Exhibition on Ubiquitous Positioning, Indoor Navigation and Location-Based Service
Piscataway: IEEE, 2012
ISBN: 978-1-4673-1909-6 (electronic)
ISBN: 978-1-4673-1908-9
S.81-85
International Conference and Exhibition on Ubiquitous Positioning, Indoor Navigation and Location-Based Service (UPINLBS) <2, 2012, Helsinki>
Englisch
Konferenzbeitrag
Fraunhofer IOSB ()

Abstract
Laser scanners are widely used with mobile robots for simultaneous localization and mapping. The laser data can be used to build a dense map or a feature based map, where the features are extracted from laser scanner (LIDAR) data. On the other hand, diverse approaches exist, which use one or several cameras to extract features from the environment. In this paper, an approach to combine these sensors in a unified framework is proposed. The combination is achieved by fusion of sensor data as well as incorporation of grid and feature based map representations.

: http://publica.fraunhofer.de/dokumente/N-254198.html