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Summary: Fusion of range and visual data for the extraction of scene structure information
Haris Baltzakis
Antonis Argyros
Panos Trahanias
Institute of Computer Science
Foundation for Research and Technology Hellas (FORTH)
P.O.Box 1385, Heraklion, 711 10 Crete, Greece
Department of Computer Science, University of Crete
P.O.Box 1470, Heraklion, 714 09 Crete, Greece
email:{xmpalt,argyros,thahania}@ics.forth.gr
Abstract
In this paper, a method for inferring 3D structure infor-
mation based on both range and visual data is proposed.
Data fusion is achieved by validating assumptions formed
according to 2D range scans of the environment, through
the exploitation of visual information. The proposed method
is readily applicable to robot navigation tasks providing
significant advantages over existing methods.
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