RGB-D SLAM based incremental cuboid modeling

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

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

抄録

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.

本文言語英語
ホスト出版物のタイトルComputer Vision – ECCV 2018 Workshops, Proceedings
編集者Laura Leal-Taixé, Stefan Roth
出版社Springer Verlag
ページ414-429
ページ数16
ISBN(印刷版)9783030110086
DOI
出版ステータス出版済み - 2019
イベント15th European Conference on Computer Vision, ECCV 2018 - Munich, ドイツ
継続期間: 9 8 20189 14 2018

出版物シリーズ

名前Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
11129 LNCS
ISSN(印刷版)0302-9743
ISSN(電子版)1611-3349

その他

その他15th European Conference on Computer Vision, ECCV 2018
国/地域ドイツ
CityMunich
Period9/8/189/14/18

All Science Journal Classification (ASJC) codes

  • 理論的コンピュータサイエンス
  • コンピュータ サイエンス(全般)

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