Live structural modeling using RGB-D SLAM

Nicolas Olivier, Hideaki Uchiyama, Masashi Mishima, Diego Thomas, Rin Ichiro Taniguchi, Rafael Roberto, Joao Paulo Lima, Veronica Teichrieb

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

2 被引用数 (Scopus)

抄録

This paper presents a method for localizing primitive shapes in a dense point cloud computed by the RGB-D SLAM system. To stably generate a shape map containing only primitive shapes, the primitive shape is incrementally modeled by fusing the shapes estimated at previous frames in the SLAM, so that an accurate shape can be finally generated. Specifically, the history of the fusing process is used to avoid the influence of error accumulation in the SLAM. The point cloud of the shape is then updated by fusing the points in all the previous frames into a single point cloud. In the experimental results, we show that metric primitive modeling in texture-less and unprepared environments can be achieved online.

本文言語英語
ホスト出版物のタイトル2018 IEEE International Conference on Robotics and Automation, ICRA 2018
出版社Institute of Electrical and Electronics Engineers Inc.
ページ6352-6358
ページ数7
ISBN(電子版)9781538630815
DOI
出版ステータス出版済み - 9 10 2018
イベント2018 IEEE International Conference on Robotics and Automation, ICRA 2018 - Brisbane, オーストラリア
継続期間: 5 21 20185 25 2018

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

会議

会議2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Countryオーストラリア
CityBrisbane
Period5/21/185/25/18

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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