Online 3D Reconstruction and 6-DoF Pose Estimation for RGB-D Sensors
- Title
- Online 3D Reconstruction and 6-DoF Pose Estimation for RGB-D Sensors
- Author
- 임종우
- Keywords
- Simultaneous Localization and Mapping; RGB-D SLAM
- Issue Date
- 2014-09
- Publisher
- Springer, Cham
- Citation
- Lecture Notes in Computer Science, 2014, 2015(8925), P.238-254
- Abstract
- In this paper, we propose an approach to Simultaneous Localization and Mapping (SLAM) for RGB-D sensors. Our system computes 6-DoF pose and sparse feature map of the environment. We propose a novel keyframe selection scheme based on the Fisher information, and new loop closing method that utilizes feature-to-landmark correspondences inspired by image-based localization. As a result, the system effectively mitigates drift that is frequently observed in visual odometry system. Our approach gives lowest relative pose error amongst any other approaches tested on public benchmark dataset. A set of 3D reconstruction results on publicly available RGB-D videos are presented.
- URI
- https://link.springer.com/chapter/10.1007%2F978-3-319-16178-5_16http://hdl.handle.net/20.500.11754/57322
- ISBN
- 978-3-319-16177-8; 978-3-319-16178-5
- ISSN
- 1611-3349; 0302-9743
- DOI
- 10.1007/978-3-319-16178-5_16
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > COMPUTER SCIENCE(컴퓨터소프트웨어학부) > Articles
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