RGB-D SLAM based incremental cuboid modeling

Masashi Mishima; Hideaki Uchiyama; Diego Thomas; Rin ichiro Taniguchi; Rafael Roberto; João Paulo Lima; Veronica Teichrieb

doi:10.1007/978-3-030-11009-3_25

RGB-D SLAM based incremental cuboid modeling

Masashi Mishima, Hideaki Uchiyama, Diego Thomas, Rin ichiro Taniguchi, Rafael Roberto, João Paulo Lima, Veronica Teichrieb

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

Abstract

This paper present a framework for incremental 3D cuboid modeling combined with RGB-D SLAM. While performing RGB-D SLAM, planes are incrementally reconstructed from point clouds. Then, cuboids are detected in the planes by analyzing the positional relationships between the planes; orthogonality, convexity, and proximity. Finally, the position, pose and size of a cuboid are determined by computing the intersection of three perpendicular planes. In addition, the cuboid shapes are incrementally updated to suppress false detections with sequential measurements. As an application of our framework, an augmented reality based interactive cuboid modeling system is introduced. In the evaluation at a cluttered environment, the precision and recall of the cuboid detection are improved with our framework owing to stable plane detection, compared with a batch based method.

Original language	English
Title of host publication	Computer Vision – ECCV 2018 Workshops, Proceedings
Editors	Laura Leal-Taixé, Stefan Roth
Publisher	Springer Verlag
Pages	414-429
Number of pages	16
ISBN (Print)	9783030110086
DOIs	https://doi.org/10.1007/978-3-030-11009-3_25
Publication status	Published - Jan 1 2019
Event	15th European Conference on Computer Vision, ECCV 2018 - Munich, Germany Duration: Sep 8 2018 → Sep 14 2018

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	11129 LNCS
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Other

Other	15th European Conference on Computer Vision, ECCV 2018
Country	Germany
City	Munich
Period	9/8/18 → 9/14/18

All Science Journal Classification (ASJC) codes

Theoretical Computer Science
Computer Science(all)

Access to Document

10.1007/978-3-030-11009-3_25

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Cite this

Mishima, M., Uchiyama, H., Thomas, D., Taniguchi, R. I., Roberto, R., Lima, J. P., & Teichrieb, V. (2019). RGB-D SLAM based incremental cuboid modeling. In L. Leal-Taixé, & S. Roth (Eds.), Computer Vision – ECCV 2018 Workshops, Proceedings (pp. 414-429). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 11129 LNCS). Springer Verlag. https://doi.org/10.1007/978-3-030-11009-3_25

RGB-D SLAM based incremental cuboid modeling. / Mishima, Masashi; Uchiyama, Hideaki ; Thomas, Diego ; Taniguchi, Rin ichiro; Roberto, Rafael; Lima, João Paulo; Teichrieb, Veronica.

Computer Vision – ECCV 2018 Workshops, Proceedings. ed. / Laura Leal-Taixé; Stefan Roth. Springer Verlag, 2019. p. 414-429 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 11129 LNCS).

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

Mishima, M, Uchiyama, H , Thomas, D , Taniguchi, RI, Roberto, R, Lima, JP & Teichrieb, V 2019, RGB-D SLAM based incremental cuboid modeling. in L Leal-Taixé & S Roth (eds), Computer Vision – ECCV 2018 Workshops, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 11129 LNCS, Springer Verlag, pp. 414-429, 15th European Conference on Computer Vision, ECCV 2018, Munich, Germany, 9/8/18. https://doi.org/10.1007/978-3-030-11009-3_25

Mishima M, Uchiyama H , Thomas D , Taniguchi RI, Roberto R, Lima JP et al. RGB-D SLAM based incremental cuboid modeling. In Leal-Taixé L, Roth S, editors, Computer Vision – ECCV 2018 Workshops, Proceedings. Springer Verlag. 2019. p. 414-429. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). https://doi.org/10.1007/978-3-030-11009-3_25

Mishima, Masashi ; Uchiyama, Hideaki ; Thomas, Diego ; Taniguchi, Rin ichiro ; Roberto, Rafael ; Lima, João Paulo ; Teichrieb, Veronica. / RGB-D SLAM based incremental cuboid modeling. Computer Vision – ECCV 2018 Workshops, Proceedings. editor / Laura Leal-Taixé ; Stefan Roth. Springer Verlag, 2019. pp. 414-429 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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