Persson, Martin and Duckett, Tom and Lilienthal, Achim (2008) Fusion of aerial images and sensor data from a ground vehicle for improved semantic mapping. Robotics and autonomous systems, 56 (6). pp. 483-492. ISSN 0921-8890
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Abstract
This work investigates the use of semantic information to link ground level occupancy maps and aerial images. A ground level semantic map, which shows open ground and indicates the probability of cells being occupied by walls of buildings, is obtained by a mobile robot equipped with an omnidirectional camera, GPS and a laser range finder. This semantic information is used for local and global segmentation of an aerial image. The result is a map where the semantic information has been extended beyond the range of the robot sensors and predicts where the mobile robot can find buildings and potentially driveable ground.
| Item Type: | Article |
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| Additional Information: | This work investigates the use of semantic information to link ground level occupancy maps and aerial images. A ground level semantic map, which shows open ground and indicates the probability of cells being occupied by walls of buildings, is obtained by a mobile robot equipped with an omnidirectional camera, GPS and a laser range finder. This semantic information is used for local and global segmentation of an aerial image. The result is a map where the semantic information has been extended beyond the range of the robot sensors and predicts where the mobile robot can find buildings and potentially driveable ground. |
| Keywords: | mobile robot, semantic mapping, aerial images |
| Subjects: | G Mathematical and Computer Sciences > G700 Artificial Intelligence G Mathematical and Computer Sciences > G400 Computer Science |
| Divisions: | College of Sciences > Faculty of Science > Lincoln School of Computer Science |
| Depositing User: | Tom Duckett |
| Date Deposited: | 20 Nov 2008 16:33 |
| Last Modified: | 13 Mar 2013 08:30 |
| URI: | http://eprints.lincoln.ac.uk/id/eprint/1682 |
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