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- Publisher
- Springer Journals
- Copyright
- Copyright © 2011 by Springer Science+Business Media, LLC
- Subject
- Engineering; Computer Imaging, Vision, Pattern Recognition and Graphics; Artificial Intelligence (incl. Robotics); Control , Robotics, Mechatronics; Robotics and Automation
- ISSN
- 0929-5593
- eISSN
- 1573-7527
- DOI
- 10.1007/s10514-011-9221-8
- Publisher site
- See Article on Publisher Site
Abstract
3D mapping is very challenging in the underwater domain, especially due to the lack of high resolution, low noise sensors. A new spectral registration method is presented that can determine the spatial 6 DOF transformation between pairs of very noisy 3D scans with only partial overlap. The approach is hence suited to cope with sonar as the predominant underwater sensor. The spectral registration method is based on Phase Only Matched Filtering (POMF) on non-trivially resampled spectra of the 3D data.
Journal
Autonomous Robots – Springer Journals
Published: Feb 4, 2011