| Abstract
|
<p>We propose a method based on a no … <p>We propose a method based on a nonlinear transformation for nonrigid alignment of maps of different modalities, exemplified with matching partial and deformed two-dimensional maps to layout maps. For two types of indoor environments, over a dataset of 40 maps, we have compared the method to state-of-the-art map matching and nonrigid image registration methods and demonstrate a success rate of 80.41% and a mean point-to-point alignment error of 1.78 m, compared to 31.9% and 10.7 m for the best alternative method. We also propose a fitness measure that can quite reliably detect bad alignments. Finally, we show a use case of transferring prior knowledge (labels/segmentation), demonstrating that map segmentation is more consistent when transferred from an aligned layout map than when operating directly on partial maps (95.97% vs. 81.56%). © 2018 IEEE.</p>95.97% vs. 81.56%). © 2018 IEEE.</p>
|
| Author
|
Saeed Gholami Shahbandi +
, Martin Magnusson +
, Karl Iagnemma +
|
| Conference
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2018 IEEE International Conference on Robotics and Automation, Brisbane, Australia, May 21-25, 2018
|
| DOI
|
http://dx.doi.org/10.1109/LRA.2018.2806439 +
|
| Diva
|
http://hh.diva-portal.org/smash/record.jsf?searchId=1&pid=diva2:1197163
|
| EndPage
|
2047 +
|
| Issue
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3 +
|
| Journal
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IEEE Robotics and Automation Letters +
|
| PublicationType
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Journal Paper +
|
| Publisher
|
IEEE +
|
| StartPage
|
2040 +
|
| Title
|
Nonlinear Optimization of Multimodal Two-Dimensional Map Alignment With Application to Prior Knowledge Transfer +
|
| Volume
|
3 +
|
| Year
|
2018 +
|
| Has queryThis property is a special property in this wiki.
|
Publications:Nonlinear Optimization of Multimodal Two-Dimensional Map Alignment With Application to Prior Knowledge Transfer +
, Publications:Nonlinear Optimization of Multimodal Two-Dimensional Map Alignment With Application to Prior Knowledge Transfer +
, Publications:Nonlinear Optimization of Multimodal Two-Dimensional Map Alignment With Application to Prior Knowledge Transfer +
, Publications:Nonlinear Optimization of Multimodal Two-Dimensional Map Alignment With Application to Prior Knowledge Transfer +
, Publications:Nonlinear Optimization of Multimodal Two-Dimensional Map Alignment With Application to Prior Knowledge Transfer +
, Publications:Nonlinear Optimization of Multimodal Two-Dimensional Map Alignment With Application to Prior Knowledge Transfer +
, Publications:Nonlinear Optimization of Multimodal Two-Dimensional Map Alignment With Application to Prior Knowledge Transfer +
, Publications:Nonlinear Optimization of Multimodal Two-Dimensional Map Alignment With Application to Prior Knowledge Transfer +
, Publications:Nonlinear Optimization of Multimodal Two-Dimensional Map Alignment With Application to Prior Knowledge Transfer +
, Publications:Nonlinear Optimization of Multimodal Two-Dimensional Map Alignment With Application to Prior Knowledge Transfer +
|
| Categories |
Publication +
|
| Modification dateThis property is a special property in this wiki.
|
12 April 2018 20:22:46 +
|
