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
Feature Detection with Automatic Scale Selection
International Journal of Computer Vision
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Robust 3D SLAM with a stereo camera based on an edge-point ICP algorithm
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Real-time and robust monocular SLAM using predictive multi-resolution descriptors
ISVC'06 Proceedings of the Second international conference on Advances in Visual Computing - Volume Part II
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This paper presents a method of 3D mapping using a binocular stereo camera with automatic recovery from registration failure. We employ edge points as map element, and apply a variant of ICP algorithm to the inter-frame registration. The method detects failure in the registration due to erratic camera motion or moving objects and recovers from the failure by searching a good image to resume the registration using edge-point SIFT descriptors. In experiments, our method successfully coped with registration failure in 3D mapping in indoor and outdoor environments under various conditions.