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dc.contributor.authorMartínez, Jorge L.
dc.contributor.authorReina, Antonio J.
dc.contributor.authorMorales, Jesús
dc.contributor.authorMandow, Anthony 
dc.contributor.authorGarcia-Cerezo, Alfonso J. 
dc.contributor.authorSerón, Javier
dc.date.accessioned2013-12-20T07:56:04Z
dc.date.available2013-12-20T07:56:04Z
dc.date.issued2013-12-20
dc.identifier.urihttp://hdl.handle.net/10630/6825
dc.descriptionMorales, J.; Martinez, J.L.; Mandow, A.; Reina, A.J.; Seron, J.; Garcia-Cerezo, A., "Improving 3D scan matching time of the coarse binary cubes method with fast spatial subsampling," 39th Annual Conference of the IEEE Industrial Electronics Society, pp. 4168-4173, 2013 doi:10.1109/IECON.2013.6699804
dc.description.abstractExploiting the huge amount of real time range data provided by new multi-beam three-dimensional (3D) laser scanners is challenging for vehicle and mobile robot applications. The Coarse Binary Cube (CBC) method was proposed to achieve fast and accurate scene registration by maximizing the number of coincident cubes between a pair of scans. The aim of this paper is speeding up CBC with a fast spatial subsampling strategy for raw point clouds that employs the same type of efficient data structures as CBC. Experimental results have been obtained with the Velodyne HDL-32E sensor mounted on the Quadriga mobile robot on irregular terrain. The influence of the subsampling rate has been analyzed. Preliminary results show a relevant gain in computation time without losing matching accuracy.es_ES
dc.description.sponsorshipUniversidad de Málaga. Campus de Excelencia Internacional Andalucía Tech.es_ES
dc.language.isoenges_ES
dc.rightsinfo:eu-repo/semantics/openAccess
dc.subjectLáseres_ES
dc.subjectSistemas de barridoes_ES
dc.subject.other3D laser scanneres_ES
dc.subject.otherscan matchinges_ES
dc.titleImproving 3D Scan Matching Time of the Coarse Binary Cubes Method with Fast Spatial Subsamplinges_ES
dc.typeinfo:eu-repo/semantics/preprintes_ES
dc.centroE.T.S.I. Industriales_ES
dc.relation.eventtitleIEEE International Conference on Mechatronicses_ES
dc.relation.eventplaceVienna, Austriaes_ES
dc.relation.eventdateNovember 2013es_ES


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