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On-the-fly Particle Filter Registration for Laser Data

Rink, Christian and Kriegel, Simon and Hasse, Jakob and Marton, Zoltan-Csaba (2016) On-the-fly Particle Filter Registration for Laser Data. In: 2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR). IEEE International Conference on Automation, Quality and Testing, Robotics, 19-21 May 2016, Cluj-Napoca, Romania.

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Abstract

This work is focused on streaming particle filter registration of surface models such as homogeneous triangle meshes and point clouds. Part of the approach is a streaming curvature feature calculation. The investigated approach utilizes a particle filter to incrementally update pose estimates during data acquisition. The method is evaluated in real data experiments with a high-precision laser striper system attached to an industrial robot. During the laser scan, the data is integrated on-the-fly in order to calculate features and based on these to estimate the object's pose. Experiments show the method's competitiveness in accuracy and reliability compared to state-of-the-art offline algorithms.

Item URL in elib:https://elib.dlr.de/104932/
Document Type:Conference or Workshop Item (Speech)
Additional Information:The file, which is provided here, is a draft version. Please refer to www.ieeexplore.com for the final version of the article.
Title:On-the-fly Particle Filter Registration for Laser Data
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Rink, ChristianChristian.Rink (at) dlr.deUNSPECIFIED
Kriegel, SimonSimon.Kriegel (at) dlr.dehttps://orcid.org/0000-0003-4711-8527
Hasse, JakobUNSPECIFIEDUNSPECIFIED
Marton, Zoltan-CsabaZoltan.Marton (at) dlr.deUNSPECIFIED
Date:May 2016
Journal or Publication Title:2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Series Name:Proceedings of IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR)
Status:Published
Keywords:Pose estimation, Laser scanning
Event Title:IEEE International Conference on Automation, Quality and Testing, Robotics
Event Location:Cluj-Napoca, Romania
Event Type:international Conference
Event Dates:19-21 May 2016
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Kriegel, Dr. Simon
Deposited On:18 Jul 2016 14:24
Last Modified:31 Jul 2019 20:02

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