Global Localization Based on 3D Planar Surface Segments

1 Oct 2013Robert CupecEmmanuel Karlo NyarkoDamir FilkoAndrej KitanovIvan Petrović

Global localization of a mobile robot using planar surface segments extracted from depth images is considered. The robot's environment is represented by a topological map consisting of local models, each representing a particular location modeled by a set of planar surface segments... (read more)

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