TY - GEN
T1 - Fusing laser and vision data with a genetic ICP algorithm
AU - Mühlbauer, Quirin
AU - Kühnlenz, Kolja
AU - Buss, Martin
PY - 2008
Y1 - 2008
N2 - Knowledge about the environment is essential for humanoid and mobile robots to move and act safely. The most intuitive way to perceive information about the environment is through the vision system. However, the accuracy provided by stereo vision is insufficient for many tasks. A more accurate representation is created by a laser range-finder, which delivers no color information. This paper describes a novel approach to merge data obtained by stereo vision and laser range-finders by using a genetic ICP algorithm, which is able to register noisy point clouds with different resolutions and a small overlap. Furthermore, it describes an easy-to-use and robust method to calibrate the extrinsic parameters of two or more laser rangefinders.
AB - Knowledge about the environment is essential for humanoid and mobile robots to move and act safely. The most intuitive way to perceive information about the environment is through the vision system. However, the accuracy provided by stereo vision is insufficient for many tasks. A more accurate representation is created by a laser range-finder, which delivers no color information. This paper describes a novel approach to merge data obtained by stereo vision and laser range-finders by using a genetic ICP algorithm, which is able to register noisy point clouds with different resolutions and a small overlap. Furthermore, it describes an easy-to-use and robust method to calibrate the extrinsic parameters of two or more laser rangefinders.
UR - http://www.scopus.com/inward/record.url?scp=64649098893&partnerID=8YFLogxK
U2 - 10.1109/ICARCV.2008.4795808
DO - 10.1109/ICARCV.2008.4795808
M3 - Conference contribution
AN - SCOPUS:64649098893
SN - 9781424422876
T3 - 2008 10th International Conference on Control, Automation, Robotics and Vision, ICARCV 2008
SP - 1844
EP - 1849
BT - 2008 10th International Conference on Control, Automation, Robotics and Vision, ICARCV 2008
T2 - 2008 10th International Conference on Control, Automation, Robotics and Vision, ICARCV 2008
Y2 - 17 December 2008 through 20 December 2008
ER -