Matches in SemOpenAlex for { <https://semopenalex.org/work/W2157315715> ?p ?o ?g. }
Showing items 1 to 66 of
66
with 100 items per page.
- W2157315715 abstract "This paper presents a new method for recognizing places in indoor environments based on the extraction of planar regions from range data provided by a hand-held RGB-D sensor. We propose to build a plane-based map (PbMap) consisting of a set of 3D planar patches described by simple geometric features (normal vector, centroid, area, etc.). This world representation is organized as a graph where the nodes represent the planar patches and the edges connect planes that are close by. This map structure permits to efficiently select subgraphs representing the local neighborhood of observed planes, that will be compared with other subgraphs corresponding to local neighborhoods of planes acquired previously. To find a candidate match between two subgraphs we employ an interpretation tree that permits working with partially observed and missing planes. The candidates from the interpretation tree are further checked out by a rigid registration test, which also gives us the relative pose between the matched places. The experimental results indicate that the proposed approach is an efficient way to solve this problem, working satisfactorily even when there are substantial changes in the scene (lifelong maps)." @default.
- W2157315715 created "2016-06-24" @default.
- W2157315715 creator A5010118502 @default.
- W2157315715 creator A5010671420 @default.
- W2157315715 creator A5044824896 @default.
- W2157315715 creator A5070626607 @default.
- W2157315715 date "2013-05-01" @default.
- W2157315715 modified "2023-10-01" @default.
- W2157315715 title "Fast place recognition with plane-based maps" @default.
- W2157315715 cites W1976809435 @default.
- W2157315715 cites W2033574012 @default.
- W2157315715 cites W2064280431 @default.
- W2157315715 cites W2091226544 @default.
- W2157315715 cites W2101992557 @default.
- W2157315715 cites W2118830119 @default.
- W2157315715 cites W2128554449 @default.
- W2157315715 cites W2131846894 @default.
- W2157315715 cites W2132185185 @default.
- W2157315715 cites W2144824356 @default.
- W2157315715 cites W2160821342 @default.
- W2157315715 cites W2162536300 @default.
- W2157315715 cites W2162915993 @default.
- W2157315715 cites W2165213665 @default.
- W2157315715 doi "https://doi.org/10.1109/icra.2013.6630951" @default.
- W2157315715 hasPublicationYear "2013" @default.
- W2157315715 type Work @default.
- W2157315715 sameAs 2157315715 @default.
- W2157315715 citedByCount "37" @default.
- W2157315715 countsByYear W21573157152013 @default.
- W2157315715 countsByYear W21573157152014 @default.
- W2157315715 countsByYear W21573157152015 @default.
- W2157315715 countsByYear W21573157152016 @default.
- W2157315715 countsByYear W21573157152017 @default.
- W2157315715 countsByYear W21573157152018 @default.
- W2157315715 countsByYear W21573157152019 @default.
- W2157315715 countsByYear W21573157152020 @default.
- W2157315715 countsByYear W21573157152022 @default.
- W2157315715 countsByYear W21573157152023 @default.
- W2157315715 crossrefType "proceedings-article" @default.
- W2157315715 hasAuthorship W2157315715A5010118502 @default.
- W2157315715 hasAuthorship W2157315715A5010671420 @default.
- W2157315715 hasAuthorship W2157315715A5044824896 @default.
- W2157315715 hasAuthorship W2157315715A5070626607 @default.
- W2157315715 hasConcept C154945302 @default.
- W2157315715 hasConcept C31972630 @default.
- W2157315715 hasConcept C41008148 @default.
- W2157315715 hasConceptScore W2157315715C154945302 @default.
- W2157315715 hasConceptScore W2157315715C31972630 @default.
- W2157315715 hasConceptScore W2157315715C41008148 @default.
- W2157315715 hasLocation W21573157151 @default.
- W2157315715 hasOpenAccess W2157315715 @default.
- W2157315715 hasPrimaryLocation W21573157151 @default.
- W2157315715 hasRelatedWork W1891287906 @default.
- W2157315715 hasRelatedWork W1969923398 @default.
- W2157315715 hasRelatedWork W2036807459 @default.
- W2157315715 hasRelatedWork W2058170566 @default.
- W2157315715 hasRelatedWork W2170022336 @default.
- W2157315715 hasRelatedWork W2229312674 @default.
- W2157315715 hasRelatedWork W258625772 @default.
- W2157315715 hasRelatedWork W2755342338 @default.
- W2157315715 hasRelatedWork W2772917594 @default.
- W2157315715 hasRelatedWork W3116076068 @default.
- W2157315715 isParatext "false" @default.
- W2157315715 isRetracted "false" @default.
- W2157315715 magId "2157315715" @default.
- W2157315715 workType "article" @default.