RGB-D SLAM Based on Extended Bundle Adjustment with 2D and 3D Information
نویسندگان
چکیده
منابع مشابه
RGB-D SLAM Based on Extended Bundle Adjustment with 2D and 3D Information
In the study of SLAM problem using an RGB-D camera, depth information and visual information as two types of primary measurement data are rarely tightly coupled during refinement of camera pose estimation. In this paper, a new method of RGB-D camera SLAM is proposed based on extended bundle adjustment with integrated 2D and 3D information on the basis of a new projection model. First, the geome...
متن کاملRGB-D SLAM Combining Visual Odometry and Extended Information Filter
In this paper, we present a novel RGB-D SLAM system based on visual odometry and an extended information filter, which does not require any other sensors or odometry. In contrast to the graph optimization approaches, this is more suitable for online applications. A visual dead reckoning algorithm based on visual residuals is devised, which is used to estimate motion control input. In addition, ...
متن کاملSubmap-Based Bundle Adjustment for 3D Reconstruction from RGB-D Data
The key contribution of this paper is a novel submapping technique for RGB-D-based bundle adjustment. Our approach significantly speeds up 3D object reconstruction with respect to full bundle adjustment while generating visually compelling 3D models of high metric accuracy. While submapping has been explored previously for mono and stereo cameras, we are the first to transfer and adapt this con...
متن کامل3d Plane-based Maps Simplification for Rgb-d Slam Systems
RGB-D sensors offer new prospects to significantly develop robotic navigation and interaction capabilities. For applications requiring a high level of precision such as Simultaneous Localization and Mapping (SLAM), using the observed geometry can be a good solution to better constrain the problem and help improve indoor 3D reconstruction. This paper describes an RGB-D SLAM system benefiting fro...
متن کاملPhotometric Bundle Adjustment for Vision-Based SLAM
We propose a novel algorithm for the joint refinement of structure and motion parameters from image data directly without relying on fixed and known correspondences. In contrast to traditional bundle adjustment (BA) where the optimal parameters are determined by minimizing the reprojection error using tracked features, the proposed algorithm relies on maximizing the photometric consistency and ...
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: Sensors
سال: 2016
ISSN: 1424-8220
DOI: 10.3390/s16081285