Detection and utilization of vertical intersection in feature-less environment with RGB-depth sensor

Hyunga Choi; Suyong Yeon; Nakju Lett Doh

doi:10.1109/URAI.2015.7358824

Detection and utilization of vertical intersection in feature-less environment with RGB-depth sensor

Hyunga Choi, Suyong Yeon, Nakju Lett Doh

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper proposes a method to build a RGBD map in feature-less environment. The proposed method especially focuses on a corridor environment a common indoor space composed of simple textureless structures. It estimates robot positions for mapping by using a plane registration algorithm with additional imaginary planes. The imaginary planes are created by vertical intersections the core element of this method. An experimental result shows that the proposed method increases the success rate of estimation of translation along a corridor.

Original language	English
Title of host publication	2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	537-540
Number of pages	4
ISBN (Electronic)	9781467379700
DOIs	https://doi.org/10.1109/URAI.2015.7358824
Publication status	Published - 2015 Dec 16
Event	12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015 - Goyang City, Korea, Republic of Duration: 2015 Oct 28 → 2015 Oct 30

Publication series

Name	2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015

Other

Other	12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015
Country/Territory	Korea, Republic of
City	Goyang City
Period	15/10/28 → 15/10/30

Bibliographical note

Funding Information:
This research was supported in part by the Global Frontier RandD Program on Human-centered Interaction for Coexistence funded by the National Research Foundation of Korea grant funded by the Korean Government (MSIP) (NRF-2011-0031648) and in part by the International Research and Development Program of the National Research Foundation of Korea (NRF) grant funded by the Korea government (MSIP) (NRF-2014K1A3A1A19067398)

Publisher Copyright:
© 2015 IEEE.

Keywords

Corridor
Feature-less
RGB-D
SLAM
Vertical Intersection

ASJC Scopus subject areas

Artificial Intelligence
Human-Computer Interaction

Access to Document

10.1109/URAI.2015.7358824

Cite this

Choi, H., Yeon, S., & Doh, N. L. (2015). Detection and utilization of vertical intersection in feature-less environment with RGB-depth sensor. In 2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015 (pp. 537-540). Article 7358824 (2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/URAI.2015.7358824

Detection and utilization of vertical intersection in feature-less environment with RGB-depth sensor. / Choi, Hyunga; Yeon, Suyong; Doh, Nakju Lett.
2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 537-540 7358824 (2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Choi, H, Yeon, S & Doh, NL 2015, Detection and utilization of vertical intersection in feature-less environment with RGB-depth sensor. in 2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015., 7358824, 2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015, Institute of Electrical and Electronics Engineers Inc., pp. 537-540, 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015, Goyang City, Korea, Republic of, 15/10/28. https://doi.org/10.1109/URAI.2015.7358824

Choi H, Yeon S, Doh NL. Detection and utilization of vertical intersection in feature-less environment with RGB-depth sensor. In 2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015. Institute of Electrical and Electronics Engineers Inc. 2015. p. 537-540. 7358824. (2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015). doi: 10.1109/URAI.2015.7358824

Choi, Hyunga ; Yeon, Suyong ; Doh, Nakju Lett. / Detection and utilization of vertical intersection in feature-less environment with RGB-depth sensor. 2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 537-540 (2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015).

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Detection and utilization of vertical intersection in feature-less environment with RGB-depth sensor

Abstract

Publication series

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Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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