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- W2002076273 abstract "This manuscript presents a deterministic model to register heterogeneous 3D data arising from a ring of eight ultrasonic sonar, one high data density LiDAR (light detection and ranging), and a semi-ring of three visual sensors. The three visual sensors are arranged in a cylindrical ring, and although they provide 2D colour images, a radial multi-stereo geometric model is proposed to yield 3D data. All deployed sensors are geometrically placed on-board a wheeled mobile robot platform, and data registration is carried out navigating indoors. The sensor devices in discussion are coordinated and synchronized by a home-made distributed sensor suite system. Mathematical deterministic formulation for data registration is used to obtain experimental and numerical results on global mapping. Data registration relies on a geometric model to compute depth information from a semi- circular trinocular stereo sensor that is proposed to rectify and calibrate three image frames with different orientations and positions, but with same projection point." @default.
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- W2002076273 date "2013-01-01" @default.
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- W2002076273 title "3D Heterogeneous Multi-sensor Global Registration" @default.
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- W2002076273 doi "https://doi.org/10.1016/j.proeng.2013.09.237" @default.
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