A Method for Registration of 3-D Shapes
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
W4: Real-Time Surveillance of People and Their Activities
IEEE Transactions on Pattern Analysis and Machine Intelligence
PCA-SIFT: a more distinctive representation for local image descriptors
CVPR'04 Proceedings of the 2004 IEEE computer society conference on Computer vision and pattern recognition
| Hi-index | 0.00 |
This paper presents a novel multimodal approach for indoor environment monitoring by a mobile robot. The proposed system consists of a vision-based and a laser-based module that match independently the current scene with a stored one, looking for new or removed objects. The matching process, in both modules, uses clustering on local data to detect point clouds. A fuzzy logic inference system is then implemented to evaluate environment changes and decide whether a significant variation of the scene has occurred. Results from experimental tests demonstrate the feasibility of the proposed method in robot surveillance applications.