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Reference TypeConference Proceedings
Identifier8JMKD3MGPBW34M/3EELA4H
Repositorysid.inpe.br/sibgrapi/2013/07.11.22.01
Metadatasid.inpe.br/sibgrapi/2013/07.11.22.01.49
Sitesibgrapi.sid.inpe.br
Citation KeyFernandesNascCamp:2013:ViInDa
Author1 Fernandes, ClŠudio dos Santos
2 Nascimento, Erickson Rangel do
3 Campos, Mario Fernando Montenegro
Affiliation1 UFMG
2 UFMG
3 UFMG
TitleVisual and Inertial Data Fusion for Globally Consistent Point Cloud Registration
Conference NameConference on Graphics, Patterns and Images, 26 (SIBGRAPI)
Year2013
EditorBoyer, Kim
Hirata, Nina
Nedel, Luciana
Silva, Claudio
Book TitleProceedings
DateAug. 5-8, 2013
Publisher CityLos Alamitos
PublisherIEEE Computer Society
Conference LocationArequipa, Peru
KeywordsPoint Cloud Registration, Inertial Sensing, SLAM.
AbstractThis work addresses the problem of aligning a set of point clouds acquired by an RGB-D sensor. To achieve this, we propose the fusion of RGB-D data with the orientation provided by a MARG (Magnetic, Angular Rate and Gravity) sensor, a combination that hasn't been extensively explored in the literature. Our methodology uses MARG data both in the coarse pairwise alignment between point clouds and in the loop closure detection between key frames. In our experiments, we were able to align the walls of a room with dimensions 9.84m x 7.13m. Our analysis shows us that MARG data helps to improve the alignment quality.
Languageen
Tertiary TypeFull Paper
FormatOn-line.
Size5436 KiB
Number of Files1
Target FilePID2854791.pdf
Last Update2013:07.11.22.01.49 sid.inpe.br/banon/2001/03.30.15.38 csantos@dcc.ufmg.br
Metadata Last Update2020:02.19.03.09.22 sid.inpe.br/banon/2001/03.30.15.38 administrator {D 2013}
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Is the master or a copy?is the master
Mirrorsid.inpe.br/banon/2001/03.30.15.38.24
e-Mail Addresscsantos@dcc.ufmg.br
User Groupcsantos@dcc.ufmg.br
Visibilityshown
Transferable1
Host Collectionsid.inpe.br/banon/2001/03.30.15.38
Content TypeExternal Contribution
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History2013-07-11 22:01:49 :: csantos@dcc.ufmg.br -> administrator ::
2020-02-19 03:09:22 :: administrator -> :: 2013
Empty Fieldsaccessionnumber archivingpolicy archivist area callnumber copyholder copyright creatorhistory descriptionlevel dissemination documentstage doi edition electronicmailaddress group holdercode isbn issn label lineage mark nextedition nexthigherunit notes numberofvolumes orcid organization pages parameterlist parentrepositories previousedition previouslowerunit progress project readergroup readpermission resumeid rightsholder secondarydate secondarykey secondarymark secondarytype serieseditor session shorttitle sponsor subject tertiarymark type url versiontype volume
Access Date2020, Nov. 27

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