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• W2213898518 abstract "We present a descriptor estimator for surface-based 3D input data for coarse localization of mobile robots. From the input pointclouds surfaces are reconstructed and simplified to detect stable keypoints which are used to evaluate rotation and translation invariant features. The invariance is achieved by transforming the triangulated input data into the frequency domain by Fourier transformation and spherical harmonics. The pipeline was evaluated against state of the art algorithms and tested to localize a mobile robot. The source code is publicly available." @default.
• W2213898518 created "2016-06-24" @default.
• W2213898518 creator A5003111090 @default.
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• W2213898518 date "2015-09-01" @default.
• W2213898518 modified "2023-09-27" @default.
• W2213898518 title "Rotation and translation invariant 3D descriptor for surfaces" @default.
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• W2213898518 doi "https://doi.org/10.1109/iros.2015.7353450" @default.
• W2213898518 hasPublicationYear "2015" @default.
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