In this paper a unique landmark identification method is proposed for identifying large distinguishable landmarks for 3D Visual Simultaneous Localization and Mapping (SLAM) in unknown cluttered urban search and rescue (USAR) environments. The novelty of the method is the utilization of both 3D (i.e., depth images) and 2D images. By utilizing a Scale Invariant Feature Transform (SIFT) -based approach and incorporating 3D depth imagery, we can achieve more reliable and robust recognition and matching of landmarks from multiple images for 3D mapping of the environment. Preliminary experiments utilizing the proposed methodology verify: (i) its ability to identify clusters of SIFT keypoints in both 3D and 2D images for representation of potential landmarks in the scene, and (ii) the use of the identified landmarks in constructing a 3D map of unknown cluttered USAR environments.
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ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 3–6, 2008
Brooklyn, New York, USA
Conference Sponsors:
- Design Engineering Division and Computers in Engineering Division
ISBN:
978-0-7918-4326-0
PROCEEDINGS PAPER
Robot-Assisted 3D Mapping of Search and Rescue Environments
Zhe Zhang,
Zhe Zhang
State University of New York - Stony Brook, Stony Brook, NY
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Goldie Nejat
Goldie Nejat
State University of New York - Stony Brook, Stony Brook, NY
Search for other works by this author on:
Zhe Zhang
State University of New York - Stony Brook, Stony Brook, NY
Goldie Nejat
State University of New York - Stony Brook, Stony Brook, NY
Paper No:
DETC2008-50012, pp. 1295-1303; 9 pages
Published Online:
July 13, 2009
Citation
Zhang, Z, & Nejat, G. "Robot-Assisted 3D Mapping of Search and Rescue Environments." Proceedings of the ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B. Brooklyn, New York, USA. August 3–6, 2008. pp. 1295-1303. ASME. https://doi.org/10.1115/DETC2008-50012
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