- 著者
-
鄭 龍振
倉爪 亮
岩下 友美
長谷川 勉
- 出版者
- 一般社団法人 日本ロボット学会
- 雑誌
- 日本ロボット学会誌 (ISSN:02891824)
- 巻号頁・発行日
- vol.31, no.9, pp.896-906, 2013 (Released:2013-12-15)
- 参考文献数
- 31
- 被引用文献数
-
1
3
We proposed a global positioning technique in 3D environment using 3D geometrical map and a RGB-D camera based on a ND (Normal Distributions) voxel matching. Firstly, a 3D geometrical map represented by point-cloud is converted to ND voxels, and eigen ellipses are extracted. Meanwhile, ND voxels are also created from a range image captured by a RGB-D camera, and eigen ellipses and seven representative points are calculated in each ND voxel. For global localization, point-plane and plane-plane correspondences are tested and an optimum global position is determined using a particle filter. Experimental results show that the proposed technique is robust for the similarity in a 3D map and converges more stably than a standard maximum likelihood method using a beam model.