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Building an object map for mobile robots using LRF scan matching and vision-based object recognition

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1 Author(s)
Tomono, M. ; PRESTO, Japan Sci. & Technol. Agency, Kawaguchi City, Japan

This paper presents a method of building a 3-D map that consists of 3-D object models. First, we build a 2-D map from laser range finder (LRF) scans, and detect objects by matching a scan template with the 2-D map. Then, we verify the detected object candidates using vision-based object recognition based on the constraint that the estimated pose of a true positive must be consistent between scan matching and object recognition. We have conducted an experiment in a room having desks and cabinets to show the effectiveness of the method.

Published in:

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on  (Volume:4 )

Date of Conference:

April 26-May 1, 2004