3D Maps, Navigation, and Relocalization

Eduardo Bayro-Corrochano ()
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Eduardo Bayro-Corrochano: CINVESTAV, Electrical Engineering and Computer Science Department

Chapter Chapter 18 in Geometric Algebra Applications Vol. II, 2020, pp 507-530 from Springer

Abstract: Abstract This chapter presents applications of body–eye calibration algorithms using motors of the conformal geometric algebra. A scan-matching algorithm, based on such algorithm, aligns the scans by representing the scan points as lines. We show then a path-following procedure that also uses the conformal geometric algebra techniques to estimate the geometric error for a control law. The chapter extends the applications of body-sensor calibration for the case of stereo vision and laser scanner. Such sensors are used for building 3D maps and tackling the relocalization problem. For the relocalization, we resort to an approach based in the Hough transform, where the desired position is searched in the line Hough space.

Date: 2020
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Persistent link: https://EconPapers.repec.org/RePEc:spr:sprchp:978-3-030-34978-3_18

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DOI: 10.1007/978-3-030-34978-3_18

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