Martin Persson, Tom Duckett and Achim J. Lilienthal
Fusion of Aerial Images and Sensor Data from a Ground Vehicle for Improved Semantic Mapping
Robotics and Autonomous Systems, Volume 56, Issue 6, June 2008, pp. 483-492
Abstract: This work investigates the use of semantic information to link ground level occupancy maps and aerial images. A ground level semantic map, which shows open ground and indicates the probability of cells being occupied by walls of buildings, is obtained by a mobile robot equipped with an omni-directional camera, GPS and a laser range finder. This semantic information is used for local and global segmentation of an aerial image. The result is a map where the semantic information has been extended beyond the range of the robot sensors and predicts where the mobile robot can find buildings and potentially driveable ground.
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Bibtex:
@ARTICLE{Persson_etal:RAS:2008,
  AUTHOR = {Persson, Martin and Duckett, Tom and Lilienthal, Achim~J.},
  TITLE = {Fusion of Aerial Images and Sensor Data from a Ground Vehicle for Improved Semantic Mapping},
  JOURNAL = {Robotics and Autonomous Systems},
  YEAR = {2008},
  VOLUME = {56},
  NUMBER = {6},
  PAGES = {483--492},
  ISSN = {0921-8890},
  MONTH = {Sep 30}
}