next up previous
Next: About this document ... Up: 6D SLAM with Approximate Previous: Acknowledgements

Bibliography

1
P. Allen, I. Stamos, A. Gueorguiev, E. Gold, and P. Blaer.
AVENUE: Automated Site Modeling in Urban Environments.
In Proceedings of the third International Conference on 3D Digital Imaging and Modeling (3DIM '01), Quebec City, Canada, May 2001.

2
K. S. Arun, T. S. Huang, and S. D. Blostein.
Least square fitting of two 3-d point sets.
IEEE Transactions on Pattern Analysis and Machine Intelligence, 9(5):698 - 700, 1987.

3
S. Arya and D. M. Mount.
Approximate nearest neigbor queries in fixed dimensions.
In Proceedings of the 4th ACM-SIAM Symposium on Discrete Algorithms, pages 271 - 280, 1993.

4
S. Arya, D. M. Mount, N. S. Netanyahu, R. Silverman, and A. Y. Wu.
An Optimal Algorithms for Approximate Nearest Neighbor Searcching in Fixed Dimensions.
Journal of the ACM, (45):891 - 923, 1998.

5
R. Benjemaa and F. Schmitt.
Fast Global Registration of 3D Sampled Surfaces Using a Multi-Z-Buffer Technique.
In Proceedings IEEE International Conference on Recent Advances in 3D Digital Imaging and Modeling (3DIM '97), Ottawa, Canada, May 1997.

6
J. L. Bentley.
Multidimensional binary search trees used for associative searchin.
Communications of the ACM, 18(9):509 - 517, September 1975.

7
P. Besl and N. McKay.
A method for Registration of 3-D Shapes.
IEEE Transactions on Pattern Analysis and Machine Intelligence, 14(2):239 - 256, February 1992.

8
P. Biber, H. Andreasson, T. Duckett, and A. Schilling.
3D Modeling of Indoor Environments by a Mobile Robot with a Laser Scanner and Panoramic Camera.
In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'04), Sendai, Japan, September 2004.

9
Y. Chen and G. Medioni.
Object Modelling by Registration of Multiple Range Images.
In Proceedings of the IEEE Conference on Robotics and Automation (ICRA '91), pages 2724 - 2729, Sacramento, CA, USA, April 1991.

10
D. Eggert, A. Fitzgibbon, and R. Fisher.
Simultaneous Registration of Multiple Range Views Satisfying Global Consistency Constraints for Use In Reverse Engineering.
Computer Vision and Image Understanding, 69:253 - 272, March 1998.

11
J. H. Friedman, J. L. Bentley, and R. A. Finkel.
An algorithm for finding best matches in logarithmic expected time.
ACM Transaction on Mathematical Software, 3(3):209 - 226, September 1977.

12
C. Früh and A. Zakhor.
3D Model Generation for Cities Using Aerial Photographs and Ground Level Laser Scans.
In Proceedings of the Computer Vision and Pattern Recognition Conference (CVPR '01), Kauai, Hawaii, USA, December 2001.

13
A. Georgiev and P. K. Allen.
Localization methods for a mobile robot in urban environments.
IEEE Transaction on Robotics and Automation (TRO), 20(5):851 - 864, October 2004.

14
M. Greenspan and M. Yurick.
Approximate K-D Tree Search for Efficient ICP.
In Proceedings of the 4th IEEE International Conference on Recent Advances in 3D Digital Imaging and Modeling (3DIM '03), pages 442 - 448, Banff, Canada, October 2003.

15
D. Hähnel, W. Burgard, and S. Thrun.
Learning Compact 3D Models of Indoor and Outdoor Environments with a Mobile Robot.
In Proceedings of the fourth European workshop on advanced mobile robots (EUROBOT '01), Lund, Sweden, September 2001.

16
M. Hebert, M. Deans, D. Huber, B. Nabbe, and N. Vandapel.
Progress in 3-D Mapping and Localization.
In Proceedings of the 9th International Symposium on Intelligent Robotic Systems, (SIRS '01), Toulouse, France, July 2001.

17
A. Lorusso, D. Eggert, and R. Fisher.
A Comparison of Four Algorithms for Estimating 3-D Rigid Transformations.
In Proceedings of the 5th British Machine Vision Conference (BMVC '95), pages 237 - 246, Birmingham, England, September 1995.

18
M. M. Nevado, J. G. Garcia-Bermejo, and E. Z. Casanova.
Obtaining 3d models of indoor environments with a mobile robot by estimating local surface directions.
Robotics and Autonomous Systems, 48:131 - 143, August 2004.

19
A. Nüchter.
Autonome Exporation und Modellierung von 3D-Umgebungen, GMD Report 157.
GMD, Sankt Augustin, 2002.

20
A. Nüchter, H. Surmann, K. Lingemann, J. Hertzberg, and S. Thrun.
6D SLAM with an Application in autonomous mine mapping.
In Proceedings of the IEEE International Conference on Robotics and Automation, pages 1998 - 2003, New Orleans, USA, April 2004.

21
K. Pulli.
Multiview Registration for Large Data Sets.
In Proceedings of the 2nd International Conference on 3D Digital Imaging and Modeling (3DIM '99), pages 160 - 168, Ottawa, Canada, October 1999.

22
S. Se, D. Lowe, and J. Little.
Local and Global Localization for Mobile Robots using Visual Landmarks.
In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '01), Hawaii, USA, October 2001.

23
V. Sequeira, K. Ng, E. Wolfart, J. Goncalves, and D. Hogg.
Automated 3D reconstruction of interiors with multiple scan-views.
In Proceedings of SPIE, Electronic Imaging '99, The Society for Imaging Science and Technology /SPIE's 11th Annual Symposium, San Jose, CA, USA, January 1999.

24
D. Simon, M. Hebert, and T. Kanade.
Real-time 3-D pose estimation using a high-speed range sensor.
In Proceedings of IEEE International Conference on Robotics and Automation (ICRA '94), volume 3, pages 2235 - 2241, San Diego, CA, USA, May 1994.

25
I. Stamos and P. Allen.
3-D Model Construction Using Range and Image Data.
In Proceedings of the Conference on Computer Vision and Pattern Recognition (CVPR '00), USA, June 2000.

26
H. Surmann, K. Lingemann, A. Nüchter, and J. Hertzberg.
A 3D laser range finder for autonomous mobile robots.
In Proceedings of the of the 32nd International Symposium on Robotics (ISR '01), pages 153 - 158, Seoul, Korea, April 2001.

27
H. Surmann, A. Nüchter, K. Lingemann, and J. Hertzberg.
6D SLAM A Preliminary Report on Closing the Loop in Six Dimensions.
In Proceedings of the 5th IFAC Symposium on Intelligent Autonomous Vehicles (IAV '04), Lisabon, Portugal, July 2004.

28
S. Thrun, D. Fox, and W. Burgard.
A real-time algorithm for mobile robot mapping with application to multi robot and 3D mapping.
In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '00), San Francisco, CA, USA, April 2000.

29
O. Wulf, K. O. Arras, H. I. Christensen, and B. A. Wagner.
2D Mapping of Cluttered Indoor Environments by Means of 3D Perception.
In Proceedings of the IEEE International Conference on Robotics and Automation, pages 4204 - 4209, New Orleans, USA, April 2004.

30
H. Zhao and R. Shibasaki.
Reconstructing Textured CAD Model of Urban Environment Using Vehicle-Borne Laser Range Scanners and Line Cameras.
In Second International Workshop on Computer Vision System (ICVS '01), pages 284 - 295, Vancouver, Canada, July 2001.

Figure: Initial poses are marked in $ (x,z,\theta_y)$ from which a correct alignment of two 3D scans is possible. The scans of Fig. [*] have been used. (a) and (b): $ \epsilon = 1$ and $ b = 10$. (c) and (d): $ \epsilon = 1$ and $ b
= 20$. (e) and (f): $ \epsilon = 10$ and $ b = 10$. (g) and (h): $ \epsilon = 50$ and $ b = 5$. The rows represent second angle projections of the 3D space of matchable poses.

\includegraphics[width=63mm,height=41mm]{gr_th_1_10__1}              \includegraphics[width=60mm]{gr_th_1_10__2}
                                       (a) (b)                                       



\includegraphics[width=63mm,height=41mm]{gr_th_1_20__1}              \includegraphics[width=60mm]{gr_th_1_20__2}
                                       (c) (d)                                       



\includegraphics[width=63mm,height=41mm]{gr_th_10_10__1}              \includegraphics[width=60mm]{gr_th_10_10__2}
                                       (e) (f)                                       



\includegraphics[width=63mm,height=41mm]{gr_th_50_5__1}              \includegraphics[width=60mm]{gr_th_50_5__2}
                                       (g) (h)                                       



root 2005-05-03