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A new approach to occupancy map modeling in navigation assisted by computer vision

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A new approach to occupancy map modeling in navigation assisted by computer vision

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dc.contributor.author Riquelme Madrona, Julio es_ES
dc.contributor.author Ortigosa, Nuria es_ES
dc.contributor.author Magal Royo, Teresa es_ES
dc.contributor.author Morillas, Samuel es_ES
dc.contributor.author Peris Fajarnes, Guillermo es_ES
dc.date.accessioned 2016-11-11T10:34:46Z
dc.date.available 2016-11-11T10:34:46Z
dc.date.issued 2011
dc.identifier.issn 1472-8915
dc.identifier.uri http://hdl.handle.net/10251/73838
dc.description.abstract [EN] Occupancy grid maps have been widely used in robotics for navigation assistance. Most of the current occupancy maps use grids based on Cartesian coordinates. In this paper, we introduce a new approach to occupancy map modeling which represents the grid using cylindrical coordinates instead of Cartesian coordinates. The new approach is applied to create a 3D model of the surrounding space. Several computer vision systems and sensors including a stereo vision system, a laser-based depth system and some movement and position sensors are considered to be used to provide the inputs. Simulations are provided to show that the proposed approach presents some improvements over Cartesian coordinates based model. © 2011 CRL Publishing Ltd. es_ES
dc.description.sponsorship This work has been funded by the European project CASBliP (STRP. FP6-2004-IST-4. Proposal/Contract nº: 027063 FP6).
dc.language Inglés es_ES
dc.relation EU/CASBliP/FP6-2004-IST-4/027063 es_ES
dc.relation.ispartof International Journal of Engineering Intelligent Systems for Electrical Engineering and Communications -New Series- es_ES
dc.rights Reserva de todos los derechos es_ES
dc.subject Assisted navigation es_ES
dc.subject Occupancy grid map es_ES
dc.subject Voxel-based representation es_ES
dc.subject 3D models es_ES
dc.subject Cartesian coordinate es_ES
dc.subject Computer vision system es_ES
dc.subject Cylindrical coordinates es_ES
dc.subject Occupancy maps es_ES
dc.subject Position sensors es_ES
dc.subject Stereo vision system es_ES
dc.subject Computer vision es_ES
dc.subject Navigation es_ES
dc.subject Sensors es_ES
dc.subject Three dimensional es_ES
dc.subject Stereo vision es_ES
dc.subject.classification MATEMATICA APLICADA es_ES
dc.subject.classification EXPRESION GRAFICA EN LA INGENIERIA es_ES
dc.title A new approach to occupancy map modeling in navigation assisted by computer vision es_ES
dc.type Artículo es_ES
dc.rights.accessRights Cerrado es_ES
dc.contributor.affiliation Universitat Politècnica de València. Instituto Universitario de Matemática Pura y Aplicada - Institut Universitari de Matemàtica Pura i Aplicada es_ES
dc.contributor.affiliation Universitat Politècnica de València. Escuela Técnica Superior de Ingeniería Geodésica, Cartográfica y Topográfica - Escola Tècnica Superior d'Enginyeria Geodèsica, Cartogràfica i Topogràfica es_ES
dc.contributor.affiliation Universitat Politècnica de València. Escola Tècnica Superior d'Enginyeria Informàtica es_ES
dc.contributor.affiliation Universitat Politècnica de València. Escuela Técnica Superior de Ingeniería del Diseño - Escola Tècnica Superior d'Enginyeria del Disseny es_ES
dc.description.bibliographicCitation Riquelme Madrona, J.; Ortigosa, N.; Magal Royo, T.; Morillas, S.; Peris Fajarnes, G. (2011). A new approach to occupancy map modeling in navigation assisted by computer vision. International Journal of Engineering Intelligent Systems for Electrical Engineering and Communications -New Series-. 19(2):103-107. http://hdl.handle.net/10251/73838 es_ES
dc.description.accrualMethod Senia es_ES
dc.description.upvformatpinicio 103 es_ES
dc.description.upvformatpfin 107 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 19 es_ES
dc.description.issue 2 es_ES
dc.relation.senia 216651 es_ES
dc.contributor.funder European Commission


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