Towards Geographical Referencing of Monocular SLAM Reconstruction Using 3D City Models: Application to Real- Time Accurate Vision-Based Localization Reporter.
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Towards Geographical Referencing of Monocular
SLAM Reconstruction Using 3D City Models: Application
to Real-Time Accurate Vision-Based Localization
Reporter : 鄒嘉恆Date : 2010/05/04
CVPR ‘09
Introduction
Outline
MotivationCoarse SLAM ReconstructionBundle adjustmentExperimental resultsApplicationConclusion
Motivation
Current SLAM methods are still prone to drift errors, which prevent their use in large-scale applications.
Coarse SLAM Reconstruction
Coarse SLAM Reconstruction
Coarse SLAM Reconstruction
SLAM(Simultaneous localization and mapping)
Coarse SLAM Reconstruction
Coarse SLAM Reconstruction-SLAM reconstruction fragmentation
Use the idea suggested by Lowe in [11] to segment the trajectory.
[11]D. G. Lowe. Three-dimensional object recognition from single two-dimensional images. Artificial Intelligence, 31(3):355–395, 1987.
3D points
Coarse SLAM Reconstruction
Coarse SLAM Reconstruction-Non-rigid ICP
Goal:
Point-plane association :
Robust estimation :
3D Model
Coarse SLAM Reconstruction
Result
Bundle adjustment
Bundle adjustment
Advantages to use the barycentre of backprojections:The movement of Qi’ is then directly linked to
the displacement of the cameras.Qi position is not used in the cost function.
Experimental results
Synthetic sequence
Experimental results
Real sequence640x480, 1500 meters
Application
Conclusion
Proposed a new approach to correct large-scale SLAM reconstructions.
Proposed AR application shows that the obtained reconstruction precision is sufficient.
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