Corpus ID: 7025794

LIDAR and stereo camera data fusion in mobile robot mapping

  title={LIDAR and stereo camera data fusion in mobile robot mapping},
  author={Jana Vyroubalov{\'a}},
  • Jana Vyroubalová
  • Published 2017
  • LIDAR (2D) has been widely used for mapping and navigation in mobile robotics. However, its usage is limited to simple environments. This problem can be solved by adding more sensors and processing these data together. This paper explores a method how measurements from a stereo camera and LIDAR are fused to dynamical mapping. An occupancy grid map from LIDAR data is used as prerequisite and extended by a 2D grid map from stereo camera. This approach is based on the ground plane estimation in… CONTINUE READING
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