Slawomir Grzonka, Bastian Steder, and Wolfram Burgard
3D Place Recognition and Object Detection using a Small-sized Quadrotor
We present a system for 3D place recognition and object detection
using a small-sized quadrotor. The robot is equipped with a
horizontally scanning 2D range-scanner and occasionally acquires 3D
scans by hovering on the spot and changing its altitude. Our
approach is able to accurately and robustly recognize previously
seen places of the environment. Additionally, our system can be
applied to match the current observations to models stored in a
database which allows the robot to perform object detection. We
evaluate our approach in real-world experiments to demonstrate the
robustness and reliability of our algorithms.
Bibtex:
@InProceedings{grzonka09icra,
author = {Grzonka, Slawomir and Steder, Bastian and Burgard, Wolfram},
title = {3D Place Recognition and Object Detection using a Small-sized Quadroto},
booktitle = {Robotics: Science and Systems (RSS), Workshop on 3D Exploration, Mapping, and Surveillance with Aerial Robots
year = {2011},
}
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