INVESTIGACIÓN

@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}

}

@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}

}