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Contour reconstruction and matching using recursive smoothing splines
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.ORCID iD: 0000-0003-0177-1993
2007 (English)In: MODELING, ESTIMATION AND CONTROL: FESTSCHRIFT IN HONOR OF GIORGIO PICCI ON THE OCCASION OF THE SIXTY-FIFTH BIRTHDAY / [ed] Chiuso, A; Ferrante, A; Pinzoni, S, BERLIN: SPRINGER-VERLAG BERLIN , 2007, Vol. 364, 193-206 p.Conference paper, Published paper (Refereed)
Abstract [en]

In this paper a recursive smoothing spline approach is used for reconstructing a closed contour. Periodic splines are generated through minimizing a cost function subject to constraints imposed by a linear control system. The filtering effect of the smoothing splines allows for usage of noisy sensor data. An important feature of the method is that several data sets for the same closed contour can be processed recursively so that the accuracy can be improved meanwhile the current mapping can be used for planning the path for the data-collecting robot.

Place, publisher, year, edition, pages
BERLIN: SPRINGER-VERLAG BERLIN , 2007. Vol. 364, 193-206 p.
Series
LECTURE NOTES IN CONTROL AND INFORMATION SCIENCES, ISSN 0170-8643 ; 364
National Category
Information Science Computer Systems
Identifiers
URN: urn:nbn:se:kth:diva-39384DOI: 10.1007/978-3-540-73570-0_16ISI: 000250428800016Scopus ID: 2-s2.0-35548937795ISBN: 978-3-540-73569-4 (print)OAI: oai:DiVA.org:kth-39384DiVA: diva2:440778
Conference
International Conference on Modeling, Estimation and Control held in Honor of Giorigo Picci on the 60th Birthday. Venice, ITALY. OCT 04-05, 2007
Available from: 2011-09-13 Created: 2011-09-09 Last updated: 2011-09-13Bibliographically approved

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Hu, Xiaoming

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
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  • asciidoc
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