Globally Consistent Indoor Mapping via a Decoupling Rotation and Translation Algorithm Applied to RGB-D Camera Output
نویسندگان
چکیده
منابع مشابه
Indoor Scene Point Cloud Registration Algorithm Based on RGB-D Camera Calibration
With the increasing popularity of RGB-depth (RGB-D) sensor, research on the use of RGB-D sensors to reconstruct three-dimensional (3D) indoor scenes has gained more and more attention. In this paper, an automatic point cloud registration algorithm is proposed to efficiently handle the task of 3D indoor scene reconstruction using pan-tilt platforms on a fixed position. The proposed algorithm aim...
متن کاملVisual Search Based Indoor Localization in Low Light via RGB-D Camera
Most of traditional visual indoor navigation algorithms and methods only consider the localization in ordinary daytime, while we focus on the indoor re-localization in low light in the paper. As RGB images are degraded in low light, less discriminative infrared and depth image pairs are taken, as the input, by RGB-D cameras, the most similar candidates, as the output, are searched from database...
متن کاملMapping Walls of Indoor Environment using RGB-D Sensor
Inferring walls configuration of indoor environment could help robot “understand“ the environment better. This allows the robot to execute a task that involves inter-room navigation, such as picking an object in the kitchen. In this paper, we present a method to inferring walls configuration from a moving RGB-D sensor. Our goal is to combine a simple wall configuration model and fast wall detec...
متن کاملSLAM algorithm for mobile robot localization with RGB-D camera
This paper presents a three dimensional reconstruction and map building method for mobile robots. The system is able to evaluate the movement of vehicle in real time and continuously update the necessary maps based on new information with the help of using data of the Kinect sensor. The essence of method is that two three-dimensional reconstruction of environment made in different times are lar...
متن کاملPlanar Surface Segmentation Using a Color-enhanced Hybrid Model for Rgb-d Camera-based Indoor Mobile Mapping Point Clouds
Point clouds acquired by RGB-D camera-based indoor mobile mapping system suffer the problems of being noisy, exhibiting an uneven distribution, and incompleteness, which are the problems that introduce difficulties for point cloud planar surface segmentation. This paper presents a novel color-enhanced hybrid planar surface segmentation model for RGB-D camera-based indoor mobile mapping point cl...
متن کاملذخیره 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: ISPRS International Journal of Geo-Information
سال: 2017
ISSN: 2220-9964
DOI: 10.3390/ijgi6110323