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 271
- Downloads 0
Towards a Context-Aware Framework for Improving Collaboration of Users in Groupware Systems
A Context-Aware Groupware System (CAGS) enables the members of a team to communicate, cooperate and coordinate their activities to achieve a common goal, by providing them tools that are aware of their current execution...
Collective Intelligence based Endangered Language Revitalisation Systems: Design, Implementation, and Evaluation
The languages are disappearing at an alarming rate; half of 7105 plus languages spoken today may disappear by end of this century. When a language becomes extinct, communities lose their cultural identity, practices tied...
An Introduction to the Book Titled “Formal and Practical Aspects of Autonomic Computing and Networking: Specification, Development and Verification”
Dr. Phan Cong Vinh, Nguyen Tat Thanh University in Vietnam, introduces the book titled “Formal and Practical Aspects of Autonomic Computing and Networking: Specification, Development and Verification” edited by hi...
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...
Book Titled Nature-Inspired Networking: Theory and Applications: An Introduction
Nature-Inspired Networking: Theory and Applications contains nine original, peer-reviewed chapters reporting on new developments of interest to the nature-inspired networking/computing communities. All chapters contain r...