3D Dense Mapping with the Graph of Keyframe-Based and View-Dependent Local Maps

نویسندگان

چکیده

Abstract This article concerns the problem of a dense mapping system for robot exploring new environment. In this scenario, equipped with an RGB-D camera uses RGB and range data to build consistent model Firstly, requires selection representation. Secondly, has deal localization drift which can be corrected when loop closure is detected. article, we both these problems, make several technical contributions. We define local maps use Normal Distribution Transform (NDT) stored in 2D structures represent scene varying 3D resolution. method directly utilizes uncertainty sensor provides information about accuracy map. also propose architecture that pose covisibility graphs correct global environment after detection. show how integrate graph keyframes management ORB-SLAM2 localization. Finally, advantages view-dependent over methods uniformly divide space objects

برای دانلود باید عضویت طلایی داشته باشید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Fourier Volume Registration based Dense 3D Mapping

In image processing phase correlation has been shown to outperform feature matching in several contexts. In this paper, a novel volume registration technique is proposed for solving the simultaneous localization and mapping (SLAM) problem. Unlike existing methods which rely on iterative feature matching, the proposed method utilises 3D phase correlation. This method provides high noise robustne...

متن کامل

Robust Keyframe-based Dense SLAM with an RGB-D Camera

In this paper, we present RKD-SLAM, a robust keyframe-based dense SLAM approach for an RGB-D camera that can robustly handle fast motion and dense loop closure, and run without time limitation in a moderate size scene. It not only can be used to scan high-quality 3D models, but also can satisfy the demand of VR and AR applications. First, we combine color and depth information to construct a ve...

متن کامل

the evaluation of language related engagment and task related engagment with the purpose of investigating the effect of metatalk and task typology

abstract while task-based instruction is considered as the most effective way to learn a language in the related literature, it is oversimplified on various grounds. different variables may affect how students are engaged with not only the language but also with the task itself. the present study was conducted to investigate language and task related engagement on the basis of the task typolog...

15 صفحه اول

Dense 3D Mapping with Monocular Vision

Currently, the vast majority of autonomous mapping in robotics relies on direct measurements from costly devices such as sonar, infrared, and laser range finders. Adapting established methodologies from the structure-from-motion (SFM) subfield of computer vision to data commonly available in robotics, we have created a unique toolkit, able to render visually dense 3d maps from odometrically ann...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

ژورنال

عنوان ژورنال: Journal of Intelligent and Robotic Systems

سال: 2021

ISSN: ['1573-0409', '0921-0296']

DOI: https://doi.org/10.1007/s10846-021-01476-1