Abstract
Colour plays an important role in the perception systems of the human beings. In robotics, the development of new sensors has made it possible to obtain colour information together with depth information about the environment. The exploitation of this type of information has become more and more important in numerous tasks. In our recent work, we have developed an evolutionary-based scan matching method. The aim of this work is to modify this method by the introduction of colour properties, taking the first steps in studying how to use colour to improve the scan matching. In particular, we have applied a colour transition detection method based on the delta E divergence between neighbours in a scan. Our algorithm has been tested in a real environment and significant conclusions have been reached.
Keywords
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
Leonard, J.J., Durrant-Whyte, H.: Mobile Robot Localization by Tracking Geometric Beacons. IEEE Transaction on Robotics and Automation 7, 376–382 (1991)
Smith, R., Self, M., Cheeseman, P.: Estimating Uncertain Spatial Relationships in Robotics. In: Proceedings of the Second Conference Annual Conference on Uncertainty in Artificial Intelligence (UAI 1986), New York, NY, pp. 267–288. Elsevier Science (1986)
Martín, F., Triebel, R., Moreno, L., Siegwart, R.: Two different tools for three-dimensional mapping: DE-based scan matching and feature-based loop detection. Robotica (2013)
Storn, R., Price, K.: Differential Evolution – A Simple and Efficient Heuristic for Global Optimization over Continuous Spaces. Journal of Global Optimization 11, 341–359 (1997)
Henry, P., Krainin, M., Herbst, E., Ren, X., Fox, D.: RGB-D Mapping: Using Depth Cameras for Dense 3D Modeling of Indoor Environments. In: Proceedings of the Intl. Symp. on Experimental Robotics, ISER (2010)
Nüchter, A., Lingemann, K., Hertzberg, J.: 6D SLAM-3D Mapping Outdoor Environments. Journal of Field Robotics 24, 699–722 (2007)
Besl, P.J., McKay, N.D.: A method for registration of 3d shapes. IEEE Transactions on Pattern Analysis and Machine Intelligence 14(2), 239–256 (1992)
Hähnel, D., Burgard, W., Thrun, S.: Learning compact 3d models of indoor and outdoor environments with a mobile robot. Robotics and Autonomous Systems 44, 15–27 (2003)
Triebel, R., Pfaff, P., Burgard, W.: Multi-Level Surface Maps for Outdoor Terrain Mapping and Loop Closing. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 (2006)
Cole, D.M., Newman, P.M.: Using Laser Range Data for 3D SLAM in Outdoor Environments. In: Proceedings of the IEEE International Conference on Robotics and Automation, ICRA 2006 (2006)
Magnusson, M., Ducket, T.: A Comparison of 3D Registration Algorithms for Autonomous Underground Mining Vehicles. In: Proceedings of the Second European Conference on Mobile Robotics, Ancona, Italy (2005)
Biber, P., Straßer, W.: The Normal Distributions Transform: A New Approach to Laser Scan Matching. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2003 (2003)
Lu, F., Milios, E.: Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans. Journal of Intelligent and Robotic Systems 20, 249–275 (1997)
Tomono, M.: A scan matching method using euclidean invariant signature for global localization and map building. In: Proceedings of the IEEE International Conference on Robotics and Automation, ICRA 2004 (2004)
Zhang, Z.: Iterative point matching for registration of free-form curves and surfaces. International Journal of Computer Vision 13, 119–152 (1994)
Rusinkiewicz, S., Levoy, M.: Efficient Variants of the ICP Algorithm. In: Proceedings of the Third International Conference on 3D Digital Imaging and Modeling (2001)
Bosse, M., Zlot, R.: Map Matching and Data Association for Large-Scale 2D Laser Scan-Based SLAM. The International Journal of Robotics Research 27, 667–691 (2008)
Johnson, A., Kang, S.B.: Registration and integration of textured 3-d data. In: International Conference on Recent Advances in 3-D Digital Imaging and Modeling (3DIM 1997) (1997)
May, S., Droeschel, D., Holz, D., Fuchs, S., Malis, E., Nüchter, A., Hertzberg, J.: Three-dimensional mapping with time-of-flight camers. Journal of Field Robotics 26, 11–12 (2009)
Diosi, A., Kleeman, L.: Laser Scan Matching in Polar Coordinates with Application to SLAM. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 (2005)
Thrun, S., Burgard, W., Fox, D.: A real-time algorithm for mobile robot mapping with applications to multi-robot and 3D mapping. In: Proceedings of the IEEE International Conference on Robotics and Automation, ICRA 2000 (2000)
Ramos, F., Fox, D., Durrant-Whyte, H.: CRF-matching: Conditional random fields for feature-based scan matching. In: Proceedings of Robotics: Science and Systems, RSS 2007 (2007)
Izadi, S., Kim, D., Molyneaux, O.H.D., Newcombe, R., Kohli, P., Shotton, J., Hodges, S., Freeman, D., Davison, A., Fitzgibbon, A.: KinectFusion: Real-time 3D Reconstruction and Interaction Using a Moving Depth Camera. In: Proceedings of the 24th Annual ACM Symposium on User Interface Software and Technology (UIST 2011), pp. 559–568 (2011)
Newcombe, R.A., Davison, A.J., Izadi, S., Kohli, P., Hilliges, O., Shotton, J., Hodges, D.M.S., Kim, D., Fitzgibbon, A.: KinectFusion: Real-Time Dense Surface Mapping and Tracking. In: Proceedings of the 10th IEEE International Symposium on Mixed and Augmented Reality, ISMAR 2011 (2011)
Hunter, R.S.: Photoelectric color-difference meter. In: Proceedings of the Winter Meeting of the Optical Society of America (1948)
Hunter, R.S.: Accuracy, precision, and stability of new photo-electric color-difference meter. In: Proceedings of the Thirty-Third Annual Meeting of the Optical Society of America (1948)
Moreno, L., Garrido, S., Mun̈oz, M.L.: Evolutionary Filter for Robust Mobile Robot Localization. Robotics and Autonomous Systems 54(7), 590–600 (2006)
Martín, F., Moreno, L., Garrido, S., Blanco, D.: High-Accuracy Global Localization Filter for three-dimensional Environments. Robotica 30, 363–378 (2011)
Magnusson, M., Nüchter, A., Lörken, C., Lilienthal, A.J., Hertzberg, J.: Evaluation of 3D Registration Reliability and Speed – A Comparison of ICP and NDT. In: Proceedings of the IEEE International Conference on Robotics and Automation, ICRA 2009 (2009)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer International Publishing Switzerland
About this paper
Cite this paper
Martín, F., Valls Miró, J., Moreno, L. (2014). Towards Exploiting the Advantages of Colour in Scan Matching. In: Armada, M., Sanfeliu, A., Ferre, M. (eds) ROBOT2013: First Iberian Robotics Conference. Advances in Intelligent Systems and Computing, vol 253. Springer, Cham. https://doi.org/10.1007/978-3-319-03653-3_17
Download citation
DOI: https://doi.org/10.1007/978-3-319-03653-3_17
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-03652-6
Online ISBN: 978-3-319-03653-3
eBook Packages: EngineeringEngineering (R0)