TY - GEN
T1 - An improved evolutionary approach for egomotion estimation with a 3D TOF camera
AU - Villaverde, Ivan
AU - Graña, Manuel
PY - 2009
Y1 - 2009
N2 - We propose an evolutionary approach for egomotion estimation with a 3D TOF camera. It is composed of two main modules plus a preprocessing step. The first module computes the Neural Gas (NG) approximation of the preprocessed camera 3D data. The second module is an Evolution Strategy which performs the task of estimating the motion parameters by searching on the space of linear transformations restricted to the translation and rotation, applied on the codevector sets obtained by the NG for successive camera readings. The fitness function is the matching error between the transformed last set of codevectors and the codevector set corresponding to the next camera readings. In this paper, we report new modifications and improvements of this system and provide several comparisons between our and other well known registration algorithms.
AB - We propose an evolutionary approach for egomotion estimation with a 3D TOF camera. It is composed of two main modules plus a preprocessing step. The first module computes the Neural Gas (NG) approximation of the preprocessed camera 3D data. The second module is an Evolution Strategy which performs the task of estimating the motion parameters by searching on the space of linear transformations restricted to the translation and rotation, applied on the codevector sets obtained by the NG for successive camera readings. The fitness function is the matching error between the transformed last set of codevectors and the codevector set corresponding to the next camera readings. In this paper, we report new modifications and improvements of this system and provide several comparisons between our and other well known registration algorithms.
UR - https://www.scopus.com/pages/publications/70350643899
U2 - 10.1007/978-3-642-02267-8_42
DO - 10.1007/978-3-642-02267-8_42
M3 - Conference contribution
AN - SCOPUS:70350643899
SN - 3642022669
SN - 9783642022661
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 390
EP - 398
BT - Bioinspired Applications in Artificial and Natural Computation - Third International Work-Conference on the Interplay Between Natural and Artificial Computation, IWINAC 2009, Proceedings
T2 - 3rd International Work-Conference on the Interplay Between Natural and Artificial Computation, IWINAC 2009
Y2 - 22 June 2009 through 26 June 2009
ER -