@InProceedings{FernandesNascCamp:2013:ViInDa,
author = "Fernandes, Cl{\'a}udio dos Santos and Nascimento, Erickson Rangel
do and Campos, Mario Fernando Montenegro",
affiliation = "UFMG and UFMG and UFMG",
title = "Visual and Inertial Data Fusion for Globally Consistent Point
Cloud Registration",
booktitle = "Proceedings...",
year = "2013",
editor = "Boyer, Kim and Hirata, Nina and Nedel, Luciana and Silva,
Claudio",
organization = "Conference on Graphics, Patterns and Images, 26. (SIBGRAPI)",
publisher = "IEEE Computer Society",
address = "Los Alamitos",
keywords = "Point Cloud Registration, Inertial Sensing, SLAM.",
abstract = "This 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.",
conference-location = "Arequipa, Peru",
conference-year = "5-8 Aug. 2013",
doi = "10.1109/SIBGRAPI.2013.37",
url = "http://dx.doi.org/10.1109/SIBGRAPI.2013.37",
language = "en",
ibi = "8JMKD3MGPBW34M/3EELA4H",
url = "http://urlib.net/ibi/8JMKD3MGPBW34M/3EELA4H",
targetfile = "PID2854791.pdf",
urlaccessdate = "2024, Apr. 29"
}