@inproceedings{5e6fea648b4b40159f54af3284c86e3b,
title = "Proactive 3D robot mapping in environments with sparse features",
abstract = "3D map building can aid robots to accomplish high-level tasks. Using an inexpensive RGB-D camera, a 3D map can be built by estimating the camera pose using visual features. However, the mapping will easily fail if there lack a sufficient number of features. In this paper, a proactive 3D mapping framework is proposed using a mobile robot platform equipped with an RGB-D camera and a projector. Both the camera and the projector are mounted on pan-tilt units controlled by servo motors. With the motion of the camera pan-tilt unit and the movement of the robot, a binary hypothesis testing problem is modeled to evaluate the estimation accuracy of the camera pose. A pattern is generated by the projector to increase the number of features when the pose estimation has large errors based on the real-time evaluation. The experimental results show that the proposed approach improves the mapping performance in an indoor environment with sparse features.",
author = "Jianhao Du and Weihua Sheng and Qi Cheng and Meiqin Liu",
note = "Publisher Copyright: {\textcopyright} Springer International Publishing Switzerland 2014.; 10th International Symposium on Visual Computing, ISVC 2014 ; Conference date: 08-12-2014 Through 10-12-2014",
year = "2014",
doi = "10.1007/978-3-319-14249-4\_74",
language = "英语",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Verlag",
pages = "773--782",
editor = "George Bebis and Richard Boyle and Bahram Parvin and Darko Koracin and Ryan McMahan and Jason Jerald and Hui Zhang and Drucker, \{Steven M.\} and Kambhamettu Chandra and Maha, \{El Choubassi\} and Zhigang Deng and Mark Carlson",
booktitle = "Advances in Visual Computing - 10th International Symposium, ISVC 2014, Proceedings",
}