Einladung zur hochschulöffentlichen Disputation

von Herrn Junhao Xiao

Montag, 8. Juli 2013, 13 Uhr s.t.

Informatikum, Vogt-Kölln-Str. 30, Haus F, Raum 334

“Planar Segments Based Three-dimensional Robotic Mapping in Outdoor Environments”

Abstract:

This dissertation focuses on the problem of three-dimensional (3D) outdoor robotic mapping, where a three-step registration approach is proposed: The first step is to segment each point cloud into planar segments, using four different region growing strategies. The second step is to calculate the area of each segment resulting from the first step. Segments from organized and unorganized point clouds are distinguished, where an alpha-shape based algorithm is proposed for unorganized point sets and a range-image based method is proposed for organized point sets. The third step is to find segment correspondences and compute the transformation based on matched segments. The correspondences are searched globally in order to maximize a spherical-correlation-like metric, wherein the search space is pruned by both self-similarity and interrelations (geometric constraints). The novelty of the search algorithm is that only the area and plane parameters of each segment are required. Furthermore, a closed-form solution to refine the resulting transformation is presented. Four datasets obtained by field experiments have been employed to evaluate the proposed approach. Experimental results confirm that the approach offers an alternative to state-of-the-art algorithms in plane-rich environments.

Kontakt:

Prof. Dr. Christopher Habel
Vorsitzender des Fach-Promotionssausschusses Informatik