Skip to Main content Skip to Navigation
Journal articles

Scene structure registration for localization and mapping

Eduardo Fernández-Moral 1 Patrick Rives 1 Vicente Arévalo 2 Javier González-Jiménez 2 
1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : Image registration, and more generally scene registration, needs to be solved in mobile robotics for a number of tasks including localization, mapping, object recognition, visual odometry and loop-closure. This paper presents a flexible strategy to register scenes based on its planar structure, which can be used with different sensors that acquire 3D data like LIDAR, time-of-flight cameras, RGB-D sensors and stereo vision. The proposed strategy is based on the segmentation of the planar surfaces from the scene, and its representation using a graph which stores the geometric relationships between neighbouring planar patches. Uncertainty information from the planar patches is exploited in a hierarchical fashion to improve both the robustness and the efficiency of registration. Quick registration is achieved in indoor structured scenarios, offering advantages like a compact representation, and flexibility to adapt to different environments and sensors. Our method is validated with different sensors: a hand-held RGB-D camera and an omni-directional RGB-D sensor; and for different applications: from visual-range odometry to loop closure and SLAM.
Document type :
Journal articles
Complete list of metadata

Cited literature [26 references]  Display  Hide  Download
Contributor : Eric Marchand Connect in order to contact the contributor
Submitted on : Thursday, December 3, 2015 - 6:13:54 PM
Last modification on : Saturday, June 25, 2022 - 7:42:46 PM
Long-term archiving on: : Saturday, April 29, 2017 - 6:16:54 AM


Registration of scene structur...
Files produced by the author(s)



Eduardo Fernández-Moral, Patrick Rives, Vicente Arévalo, Javier González-Jiménez. Scene structure registration for localization and mapping. Robotics and Autonomous Systems, Elsevier, 2016, 75 (B), pp.649-660. ⟨10.1016/j.robot.2015.09.009⟩. ⟨hal-01237845⟩



Record views


Files downloads