3D SLAM in texture-less environments using rank order statistics

Yousif, K, Bab-Hadiashar, A and Hoseinnezhad, R 2017, '3D SLAM in texture-less environments using rank order statistics', Robotica, vol. 35, no. 4, pp. 809-831.


Document type: Journal Article
Collection: Journal Articles

Title 3D SLAM in texture-less environments using rank order statistics
Author(s) Yousif, K
Bab-Hadiashar, A
Hoseinnezhad, R
Year 2017
Journal name Robotica
Volume number 35
Issue number 4
Start page 809
End page 831
Total pages 23
Publisher Cambridge University Press
Abstract We present a real time 3D SLAM system for texture-less scenes using only depth information provided by a low cost RGB-D sensor. The proposed method is based on a novel informative sampling scheme that extracts points carrying the most useful 3D information for registration. The aim of the proposed sampling technique is to informatively sample a point cloud into a subset of points based on their 3D information. The flatness of a point is measured by applying a rank order statistics based robust segmentation method to surface normals in its local vicinity. The extracted keypoints from sequential frames are then matched and a rank order statistics based robust estimator is employed to refine the matches and estimate a rigid-body transformation between the frames. Experimental evaluations show that the proposed keypoint extraction method is highly repeatable and outperforms the state of the art methods in terms of accuracy and repeatability. We show that the performance of the registration algorithm is also comparable to other well-known methods in texture-less environments.
Subject Control Systems, Robotics and Automation
Keyword(s) Localization
Mapping
RGB-D
SLAM
Texture-less
DOI - identifier 10.1017/S0263574715000831
Copyright notice © 2015 Cambridge University Press.
ISSN 0263-5747
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