Research on Indoor 3D SLAM Fusing Color and Depth Information - Couverture souple

Liu, Yanli; Zhang, Heng; Xiong, Naixue

 
9786136596600: Research on Indoor 3D SLAM Fusing Color and Depth Information
Couverture souple
ISBN 10 : 6136596601 ISBN 13 : 9786136596600
Editeur : LAP LAMBERT Academic Publishing, 2018

Synopsis

This book is suited for computer science students and provides valuable knowledge to the intermediate scholars. Simultaneous Localization and Mapping (SLAM) is the basis for mobile robot autonomous navigating in unknown environment. This book introduces SLAM based on RGB-D color information and depth information for indoor unknown environment, which includes RGB-D depth distortion correction, feature detection, feature description and feature association. Without any prior knowledge, a Kinect does 6-DOF motion in indoor scenes and perceives the surrounding environment information, extracting stable feature points of the environment to represent the actual physical point in 3D space which is used as landmarks to create feature-based geometry map of the environment. The VO-EIF SLAM system and the loop closing detection system are conducted. All experimental studies are completed on the ROS platform in the Ubuntu environment. Key highlight areas include: Depth Distortion Correction; feature detection; feature description; RGB-D SLAM; Loop Closing.

Les informations fournies dans la section « Synopsis » peuvent faire référence à une autre édition de ce titre.

Présentation de l'éditeur

This book is suited for computer science students and provides valuable knowledge to the intermediate scholars. Simultaneous Localization and Mapping (SLAM) is the basis for mobile robot autonomous navigating in unknown environment. This book introduces SLAM based on RGB-D color information and depth information for indoor unknown environment, which includes RGB-D depth distortion correction, feature detection, feature description and feature association. Without any prior knowledge, a Kinect does 6-DOF motion in indoor scenes and perceives the surrounding environment information, extracting stable feature points of the environment to represent the actual physical point in 3D space which is used as landmarks to create feature-based geometry map of the environment. The VO-EIF SLAM system and the loop closing detection system are conducted. All experimental studies are completed on the ROS platform in the Ubuntu environment. Key highlight areas include: Depth Distortion Correction; feature detection; feature description; RGB-D SLAM; Loop Closing.

Biographie de l'auteur

Yanli Liu was born in Hubei (China) in 1979. She received the MS degree in Computer Application Technology in 2005, and the PhD in 2014 at Central South University (China). She is currently an associate professor at East China Jiaotong University. Her research interest includes computer vision, mobile robot autonomous navigation and cloud robotics.

Les informations fournies dans la section « A propos du livre » peuvent faire référence à une autre édition de ce titre.

Éditeur
LAP LAMBERT Academic Publishing
Date d'édition
2018
Langue
anglais
ISBN 10 
6136596601
ISBN 13 
9786136596600
Reliure
Broché
Nombre de pages
208
Coordonnées du fabricant
non disponible
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