Building Multi-Level Models: From Landscapes to Landmarks
نویسندگان
چکیده
In this paper a complete strategy for scene modelling from sensory data acquired in a natural environment is defined. This strategy is applied to outdoor mobile robotics and goes from environment recognition to landmark extraction. In this work, environment is understood as a specific kind of landscape, for instance prairie, forest, desert, etc. A landmark is defined as a remarkable object in the environment. In the context of outdoor mobile robotics a landmark has to be useful to perform localization and navigation tasks. Keywords—Environment modelling, landmarks, outdoor mobile robotics
منابع مشابه
Effects of Moving Landmark’s Speed on Multi-Robot Simultaneous Localization and Mapping in Dynamic Environments
Even when simultaneous localization and mapping (SLAM) solutions have been broadly developed, the vast majority of them relate to a single robot performing measurements in static environments. Researches show that the performance of SLAM algorithms deteriorates under dynamic environments. In this paper, a multi-robot simultaneous localization and mapping (MR-SLAM) system is implemented within a...
متن کاملComputing factorized approximations of Pareto-fronts using mNM-landscapes and Boltzmann distributions
NM-landscapes have been recently introduced as a class of tunable rugged models. They are a subset of the general interaction models where all the interactions are of order less or equal M . The Boltzmann distribution has been extensively applied in single-objective evolutionary algorithms to implement selection and study the theoretical properties of model-building algorithms. In this paper we...
متن کاملAnalyzing ways of transition in the pattern of urban growth
Today each city due to natural limitations, facilities and planning policies has different growth pattern which according to its spread, has different consequences and results. Although there is a wide range of urban growth patterns, but the important thing is not diversity and number of models but is the absence of rules and methods of transition from one to another pattern (form). So this art...
متن کاملGeneralisation of 3d Building Models by Cell Decomposition and Primitive Instancing
The article presents a cartographic generalisation approach for 3D building models with regard to the thematic visualisation of urban landscapes. Based on our earlier work to utilise approximating planes for generating simplified cell decompositions of the input objects, a new extension is introduced that guarantees well-formed roof structures. This is accomplished by first creating a simplifie...
متن کاملDeveloping a BIM-based Spatial Ontology for Semantic Querying of 3D Property Information
With the growing dominance of complex and multi-level urban structures, current cadastral systems, which are often developed based on 2D representations, are not capable of providing unambiguous spatial information about urban properties. Therefore, the concept of 3D cadastre is proposed to support 3D digital representation of land and properties and facilitate the communication of legal owners...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2002