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2013
Artículos de revista
Rivero-Juarez, Joaquin; Martinez-Garcia, Edgar A.; Torres-Mendez, Luz Abril; Elara Mohan, Rajesh
3D Heterogeneous Multi-sensor Global Registration Artículo de revista
En: Procedia Engineering, vol. 64, pp. 1552 - 1561, 2013, ISSN: 1877-7058.
@article{RIVEROJUAREZ20131552,
title = {3D Heterogeneous Multi-sensor Global Registration},
author = {Rivero-Juarez, Joaquin and Martinez-Garcia, Edgar A. and Torres-Mendez, Luz Abril and Elara Mohan, Rajesh },
url = {http://www.sciencedirect.com/science/article/pii/S1877705813017517},
doi = {http://dx.doi.org/10.1016/j.proeng.2013.09.237},
issn = {1877-7058},
year = {2013},
date = {2013-01-01},
journal = {Procedia Engineering},
volume = {64},
pages = {1552 - 1561},
abstract = {This manuscript presents a deterministic model to register heterogeneous 3D data arising from a ring of eight ultrasonic sonar, one high data density LiDAR (light detection and ranging), and a semi-ring of three visual sensors. The three visual sensors are arranged in a cylindrical ring, and although they provide 2D colour images, a radial multi-stereo geometric model is proposed to yield 3D data. All deployed sensors are geometrically placed on-board a wheeled mobile robot platform, and data registration is carried out navigating indoors. The sensor devices in discussion are coordinated and synchronized by a home-made distributed sensor suite system. Mathematical deterministic formulation for data registration is used to obtain experimental and numerical results on global mapping. Data registration relies on a geometric model to compute depth information from a semi- circular trinocular stereo sensor that is proposed to rectify and calibrate three image frames with different orientations and positions, but with same projection point.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
This manuscript presents a deterministic model to register heterogeneous 3D data arising from a ring of eight ultrasonic sonar, one high data density LiDAR (light detection and ranging), and a semi-ring of three visual sensors. The three visual sensors are arranged in a cylindrical ring, and although they provide 2D colour images, a radial multi-stereo geometric model is proposed to yield 3D data. All deployed sensors are geometrically placed on-board a wheeled mobile robot platform, and data registration is carried out navigating indoors. The sensor devices in discussion are coordinated and synchronized by a home-made distributed sensor suite system. Mathematical deterministic formulation for data registration is used to obtain experimental and numerical results on global mapping. Data registration relies on a geometric model to compute depth information from a semi- circular trinocular stereo sensor that is proposed to rectify and calibrate three image frames with different orientations and positions, but with same projection point.
