Incremental structural modeling on sparse visual SLAM

Rafael Roberto; Hideaki Uchiyama; Joao Paulo Lima; Hajime Nagahara; Rin Ichiro Taniguchi; Veronica Teichrieb

doi:10.23919/MVA.2017.7986765

Incremental structural modeling on sparse visual SLAM

Rafael Roberto, Hideaki Uchiyama, Joao Paulo Lima, Hajime Nagahara, Rin Ichiro Taniguchi, Veronica Teichrieb

Real world robotics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

This paper presents an incremental structural modeling approach that improves the precision and stability of existing batch based methods for sparse and noisy point clouds from visual SLAM. The main idea is to use the generating process of point clouds on SLAM effectively. First, a batch based method is applied to point clouds that are incrementally generated from SLAM. Then, the temporal history of reconstructed geometric primitives is statistically merged to suppress incorrect reconstruction. The evaluation shows that both precision and stability are improved compared to a batch based method and the proposed method is suitable for real-time structural modeling.

Original language	English
Title of host publication	Proceedings of the 15th IAPR International Conference on Machine Vision Applications, MVA 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	30-33
Number of pages	4
ISBN (Electronic)	9784901122160
DOIs	https://doi.org/10.23919/MVA.2017.7986765
Publication status	Published - Jul 19 2017
Event	15th IAPR International Conference on Machine Vision Applications, MVA 2017 - Nagoya, Japan Duration: May 8 2017 → May 12 2017

Publication series

Name	Proceedings of the 15th IAPR International Conference on Machine Vision Applications, MVA 2017

Other

Other	15th IAPR International Conference on Machine Vision Applications, MVA 2017
Country/Territory	Japan
City	Nagoya
Period	5/8/17 → 5/12/17

All Science Journal Classification (ASJC) codes

Computer Science Applications
Computer Vision and Pattern Recognition

Access to Document

10.23919/MVA.2017.7986765

Cite this

Roberto, R., Uchiyama, H., Lima, J. P., Nagahara, H., Taniguchi, R. I., & Teichrieb, V. (2017). Incremental structural modeling on sparse visual SLAM. In Proceedings of the 15th IAPR International Conference on Machine Vision Applications, MVA 2017 (pp. 30-33). [7986765] (Proceedings of the 15th IAPR International Conference on Machine Vision Applications, MVA 2017). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/MVA.2017.7986765

Incremental structural modeling on sparse visual SLAM. / Roberto, Rafael; Uchiyama, Hideaki; Lima, Joao Paulo et al.

Proceedings of the 15th IAPR International Conference on Machine Vision Applications, MVA 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 30-33 7986765 (Proceedings of the 15th IAPR International Conference on Machine Vision Applications, MVA 2017).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Roberto, R, Uchiyama, H, Lima, JP, Nagahara, H, Taniguchi, RI & Teichrieb, V 2017, Incremental structural modeling on sparse visual SLAM. in Proceedings of the 15th IAPR International Conference on Machine Vision Applications, MVA 2017., 7986765, Proceedings of the 15th IAPR International Conference on Machine Vision Applications, MVA 2017, Institute of Electrical and Electronics Engineers Inc., pp. 30-33, 15th IAPR International Conference on Machine Vision Applications, MVA 2017, Nagoya, Japan, 5/8/17. https://doi.org/10.23919/MVA.2017.7986765

Roberto R, Uchiyama H, Lima JP, Nagahara H, Taniguchi RI, Teichrieb V. Incremental structural modeling on sparse visual SLAM. In Proceedings of the 15th IAPR International Conference on Machine Vision Applications, MVA 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 30-33. 7986765. (Proceedings of the 15th IAPR International Conference on Machine Vision Applications, MVA 2017). doi: 10.23919/MVA.2017.7986765

Roberto, Rafael ; Uchiyama, Hideaki ; Lima, Joao Paulo et al. / Incremental structural modeling on sparse visual SLAM. Proceedings of the 15th IAPR International Conference on Machine Vision Applications, MVA 2017. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 30-33 (Proceedings of the 15th IAPR International Conference on Machine Vision Applications, MVA 2017).

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abstract = "This paper presents an incremental structural modeling approach that improves the precision and stability of existing batch based methods for sparse and noisy point clouds from visual SLAM. The main idea is to use the generating process of point clouds on SLAM effectively. First, a batch based method is applied to point clouds that are incrementally generated from SLAM. Then, the temporal history of reconstructed geometric primitives is statistically merged to suppress incorrect reconstruction. The evaluation shows that both precision and stability are improved compared to a batch based method and the proposed method is suitable for real-time structural modeling.",

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Incremental structural modeling on sparse visual SLAM

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