Martin Persson, Tom Duckett and Achim J. Lilienthal
Fusion of Aerial Images and Sensor Data from a Ground Vehicle for Improved Semantic Mapping
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.
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}
}