DOI: 10.1109/iccas.2015.7365008
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Sung-In Choi, Pathum Rathnayaka, Soon-Yong Park

Abstract: This paper introduces a new approach to recognize the position of a UGV -Unmanned Ground Vehicleutilizing a Digital Surface Map (DSM) along with forward direction three dimensional (3D) distance sensors and cameras. The proposed method consists of a P2P-based (Perspective 2-Point) pairwise registration, and an TCP refinement registration that implements the DSM. A new cost function, which utilizes simultaneously acquired forward direction 3D distance data and DSM information, is also introduced when proposing…

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