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3-d-laser-based scene measurement and place recognition for mobile robots in dynamic indoor environments

Zhuang, Y and Jiang, N and Hu, H and Yan, F (2013) 3-d-laser-based scene measurement and place recognition for mobile robots in dynamic indoor environments. In: UNSPECIFIED, ? - ?.

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Abstract

Active environment perception and autonomous place recognition play a key role for mobile robots to operate within a cluttered indoor environment with dynamic changes. This paper presents a 3-D-laser-based scene measurement technique and a novel place recognition method to deal with the random disturbances caused by unexpected movements of people and other objects. The proposed approach can extract and match the Speeded-Up Robust Features (SURFs) from bearing-angle images generated by a self-built rotating 3-D laser scanner. It can cope with the irregular disturbance of moving objects and the problem of observing-location changes of the laser scanner. Both global metric information and local SURF features are extracted from 3-D laser point clouds and 2-D bearing-angle images, respectively. A large-scale indoor environment with over 1600 m2 and 30 offices is selected as a testing site, and a mobile robot, i.e., SmartROB2, is deployed for conducting experiments. Experimental results show that the proposed 3-D-laser-based scene measurement technique and place recognition approach are effective and provide robust performance of place recognition in a dynamic indoor environment. © 1963-2012 IEEE.

Item Type: Conference or Workshop Item (UNSPECIFIED)
Additional Information: Published proceedings: IEEE Transactions on Instrumentation and Measurement
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Divisions: Faculty of Science and Health > Computer Science and Electronic Engineering, School of
Depositing User: Users 161 not found.
Date Deposited: 09 Sep 2014 12:23
Last Modified: 17 Jul 2019 10:16
URI: http://repository.essex.ac.uk/id/eprint/9261

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