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Fast place recognition with plane-based maps

E Fernandez-Moral, Walterio Mayol-Cuevas, V Arevalo, J Gonzalez-Jimenez, Fast place recognition with plane-based maps. IEEE International Conference on Robotics and Automation (ICRA). May 2013. No electronic version available.

Abstract

This paper presents a new method for recognizing places in indoor environments based on the extraction of planar regions from range data provided by a hand-held RGB-D sensor. We propose to build a plane-based map (PbMap) consisting of a set of 3D planar patches described by simple geometric features (normal vector, centroid, area, etc.). This world representation is organized as a graph where the nodes represent the planar patches and the edges connect planes that are close by. This map structure permits to efficiently ...

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