Title:
METHOD FOR STEREO VISUAL ODOMETRY USING POINTS, LINES AND PLANES
Document Type and Number:
WIPO Patent Application WO/2015/190269
Kind Code:
A3
Abstract:
A method determines a motion between a first and second coordinate system, by first extracting a first set of primitives from a 3D image acquired in the first coordinate system from an environment, and extracting a second set of primitives from a 3D image acquired in the second coordinate system from the environment. Motion hypotheses are generated for different combinations of the first and second sets of primitives using a RANdom SAmple Consensus procedure. Each motion hypothesis is scored using a scoring function learned using parameter learning techniques. Then, a best motion hypothesis is selected as the motion between the first and second coordinate system.
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Inventors:
RAMALINGAM SRIKUMAR (US)
TAGUCHI YUICHI (US)
ANTUNES MICHEL (US)
URTASUN RAQUEL (US)
TAGUCHI YUICHI (US)
ANTUNES MICHEL (US)
URTASUN RAQUEL (US)
Application Number:
PCT/JP2015/064842
Publication Date:
February 25, 2016
Filing Date:
May 19, 2015
Export Citation:
Assignee:
MITSUBISHI ELECTRIC CORP (JP)
International Classes:
G06T7/20
Other References:
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LU YAN ET AL: "Automatic building exterior mapping using multilayer feature graphs", 2013 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION SCIENCE AND ENGINEERING (CASE), IEEE, 17 August 2013 (2013-08-17), pages 162 - 167, XP032523008, ISSN: 2161-8070, [retrieved on 20131103], DOI: 10.1109/COASE.2013.6653887
HAIFENG LI ET AL: "A two-view based multilayer feature graph for robot navigation", ROBOTICS AND AUTOMATION (ICRA), 2012 IEEE INTERNATIONAL CONFERENCE ON, IEEE, 14 May 2012 (2012-05-14), pages 3580 - 3587, XP032194327, ISBN: 978-1-4673-1403-9, DOI: 10.1109/ICRA.2012.6224732
TAGUCHI YUICHI ET AL: "Point-plane SLAM for hand-held 3D sensors", 2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA); 6-10 MAY 2013; KARLSRUHE, GERMANY, IEEE, US, 6 May 2013 (2013-05-06), pages 5182 - 5189, XP032506385, ISSN: 1050-4729, ISBN: 978-1-4673-5641-1, [retrieved on 20131013], DOI: 10.1109/ICRA.2013.6631318
Attorney, Agent or Firm:
SOGA, Michiharu et al. (8th Floor Kokusai Building,,1-1, Marunouchi 3-chome, Chiyoda-k, Tokyo 05, JP)
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