A Computational Approach to Edge Detection
IEEE Transactions on Pattern Analysis and Machine Intelligence
Fitting Parameterized Three-Dimensional Models to Images
IEEE Transactions on Pattern Analysis and Machine Intelligence
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
A Taxonomy and Evaluation of Dense Two-Frame Stereo Correspondence Algorithms
International Journal of Computer Vision
Visually Realistic Mapping of a Planar Environment with Stereo
ISER '00 Experimental Robotics VII
3D Object Mapping by Integrating Stereo SLAM and Object Segmentation Using Edge Points
ISVC '09 Proceedings of the 5th International Symposium on Advances in Visual Computing: Part I
SLAM Estimation in Dynamic Outdoor Environments: A Review
ICIRA '09 Proceedings of the 2nd International Conference on Intelligent Robotics and Applications
Detailed 3D mapping based on image edge-point ICP and recovery from registration failure
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Robust real-time stereo edge matching by confidence-based refinement
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part III
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Most vision-based SLAM systems utilize corner-like features, and may be unstable in non-textured environments where only a few corner features can be extracted. To cope with this problem, we employ edge points to perform SLAM with a stereo camera. The edge-point based SLAM is applicable to non-textured environments since plenty of edge points can be obtained even from a small number of lines. The proposed method estimates camera poses and builds detailed 3D maps robustly by aligning edge points between frames using the ICP algorithm. In indoor experiments, the method successfully built detailed 3D maps even under noisy condition.