Fourier Volume Registration based Dense 3D Mapping
Journal Title: EAI Endorsed Transactions on Context-aware Systems and Applications - Year 2016, Vol 3, Issue 10
Abstract
In image processing phase correlation has been shown to outperform feature matching in several contexts. In this paper, a novel volume registration technique is proposed for solving the simultaneous localization and mapping (SLAM) problem. Unlike existing methods which rely on iterative feature matching, the proposed method utilises 3D phase correlation. This method provides high noise robustness, even in the presence of moving objects within the scene which are problematic for SLAM systems. Furthermore, a novel projection method is proposed which performs Fourier based volume registration 3 times faster. Quantitative and qualitative experimental results are presented, evaluating the proposed method’s the noise sensitivity, performance, reconstruction quality and robustness in the context of moving objects.
Authors and Affiliations
Luke Lincoln, Ruben Gonzalez
Keywords
Related Articles
- EP ID EP45783
- DOI http://dx.doi.org/10.4108/eai.12-9-2016.151675
- Views 268
- Downloads 0
On Sustaining Dynamic Adaptation of Context-Aware Services
The modern human is getting more and more mobile having access to online services by using mobile cutting-edge computational devices. In the last decade, the field of context-aware services had led to emerge several work...
Hedge Algebra Approach for Fuzzy Time series To Improve Result Of Time Series Forecasting.
During the recent years, many different methods of using fuzzy time series for forecasting have been published. However, computation in the linguistic environment one term has two parallel semantics, one represented by f...
Some Improvements on Active Queue Management Mechanism Based on Adaptive Fuzzy Control
Active queue management operates at network nodes to control the number of packets in the queue of nodes, by actively receiving packets when the queue is not full, removing packets when the queue is full or notifying bot...
Enrichment of Multi-criteria Communities for Context-aware Recommendations
Recommender systems are designed to help users alleviate the information overload problem by offering personalized recommendations. Most systems apply collaborative filtering to predict individual preferences based on op...
Mobile Agent Communication in Highly Dynamic Networks: A Self-Adaptive Architecture inspired by the Honey Bee Colony
Communication is considered as a building block for mobile agent systems. In highly dynamic networks, thanks to environmental stimuli such as changes in connection quality and network topology, performance of communicati...