Generating a consistent global map under intermittent mapping conditions for large-scale vision-based navigation

Kazuki Nishiguchi, Walid Bousselham, Hideaki Uchiyama, Diego Thomas, Atsushi Shimada, Rin Ichiro Taniguchi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Localization is the process to compute sensor poses based on vision technologies such as visual Simultaneous Localization And Mapping (vSLAM). It can generally be applied to navigation systems . To achieve this, a global map is essential such that the relocalization process requires a single consistent map represented with an unified coordinate system. However, a large-scale global map cannot be created at once due to insufficient visual features at some moments. This paper presents an interactive method to generate a consistent global map from intermittent maps created by vSLAM independently via global reference points. First, vSLAM is applied to individual image sequences to create maps independently. At the same time, multiple reference points with known latitude and longitude are interactively recorded in each map. Then, the coordinate system of each individual map is converted into the one that has metric scale and unified axes with the reference points. Finally, the individual maps are merged into a single map based on the relative position of each origin. In the evaluation, we show the result of map merging and relocalization with our dataset to confirm the effectiveness of our method for navigation tasks. In addition, the report on participating in the navigation competition in a practical environment is also discussed.

Original languageEnglish
Title of host publicationVISAPP
EditorsGiovanni Maria Farinella, Petia Radeva, Jose Braz
PublisherSciTePress
Pages783-793
Number of pages11
ISBN (Electronic)9789897584022
Publication statusPublished - Jan 1 2020
Event15th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications, VISIGRAPP 2020 - Valletta, Malta
Duration: Feb 27 2020Feb 29 2020

Publication series

NameVISIGRAPP 2020 - Proceedings of the 15th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications
Volume4

Conference

Conference15th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications, VISIGRAPP 2020
CountryMalta
CityValletta
Period2/27/202/29/20

All Science Journal Classification (ASJC) codes

  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Computer Vision and Pattern Recognition

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  • Cite this

    Nishiguchi, K., Bousselham, W., Uchiyama, H., Thomas, D., Shimada, A., & Taniguchi, R. I. (2020). Generating a consistent global map under intermittent mapping conditions for large-scale vision-based navigation. In G. M. Farinella, P. Radeva, & J. Braz (Eds.), VISAPP (pp. 783-793). (VISIGRAPP 2020 - Proceedings of the 15th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications; Vol. 4). SciTePress.