Comparison of Shape Matching Techniques for Place Recognition

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F13%3A00210315" target="_blank" >RIV/68407700:21230/13:00210315 - isvavai.cz</a>

Výsledek na webu

<a href="http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6698828" target="_blank" >http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6698828</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/ECMR.2013.6698828" target="_blank" >10.1109/ECMR.2013.6698828</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Comparison of Shape Matching Techniques for Place Recognition

Popis výsledku v původním jazyce

Place recognition is crucial for environment map- ping as well as for localization. Although vision-based place recognition is well studied, where various feature-based meth- ods can be employed, less number of works has been dedicated to laser-based place recognition. As data from laser range- finder can be represented as 2D shapes, various shape matching methods can be used to find similarities in these data. In this paper, we discuss the usage of shape matching methods for place recognition in a mapping task. Several state-of-the-art pattern recognition methods are compared on real as well as synthetic datasets. The experimental results show, that selected shape matching methods surpass the state-of-the-art robotic FLIRT feature-based algorithm in both the precision and speed.

Název v anglickém jazyce

Comparison of Shape Matching Techniques for Place Recognition

Popis výsledku anglicky

Place recognition is crucial for environment map- ping as well as for localization. Although vision-based place recognition is well studied, where various feature-based meth- ods can be employed, less number of works has been dedicated to laser-based place recognition. As data from laser range- finder can be represented as 2D shapes, various shape matching methods can be used to find similarities in these data. In this paper, we discuss the usage of shape matching methods for place recognition in a mapping task. Several state-of-the-art pattern recognition methods are compared on real as well as synthetic datasets. The experimental results show, that selected shape matching methods surpass the state-of-the-art robotic FLIRT feature-based algorithm in both the precision and speed.

Druh

D - Stať ve sborníku

CEP obor

JC - Počítačový hardware a software

OECD FORD obor

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Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2013

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Proceedings of 6th European Conference on Mobile Robots

ISBN

978-1-4799-0263-7

ISSN

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e-ISSN

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Počet stran výsledku

6

Strana od-do

107-112

Název nakladatele

Institut de Rob?tica i Inform?tica Industrial

Místo vydání

Barcelona

Místo konání akce

Barcelona

Datum konání akce

25. 9. 2013

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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