A Novel Metric Online Monocular SLAM Approach for Indoor Applications
المؤلفون المشاركون
Wang, Shicheng
Li, Yongfei
Yang, Dongfang
Sun, Dawei
المصدر
العدد
المجلد 2016، العدد 2016 (31 ديسمبر/كانون الأول 2016)، ص ص. 1-8، 8ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2016-09-08
دولة النشر
مصر
عدد الصفحات
8
التخصصات الرئيسية
الملخص EN
Monocular SLAM has attracted more attention recently due to its flexibility and being economic.
In this paper, a novel metric online direct monocular SLAM approach is proposed, which can obtain the metric reconstruction of the scene.
In the proposed approach, a chessboard is utilized to provide initial depth map and scale correction information during the SLAM process.
The involved chessboard provides the absolute scale of scene, and it is seen as a bridge between the camera visual coordinate and the world coordinate.
The scene is reconstructed as a series of key frames with their poses and correlative semidense depth maps, using a highly accurate pose estimation achieved by direct grid point-based alignment.
The estimated pose is coupled with depth map estimation calculated by filtering over a large number of pixelwise small-baseline stereo comparisons.
In addition, this paper formulates the scale-drift model among key frames and the calibration chessboard is used to correct the accumulated pose error.
At the end of this paper, several indoor experiments are conducted.
The results suggest that the proposed approach is able to achieve higher reconstruction accuracy when compared with the traditional LSD-SLAM approach.
And the approach can also run in real time on a commonly used computer.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Li, Yongfei& Wang, Shicheng& Yang, Dongfang& Sun, Dawei. 2016. A Novel Metric Online Monocular SLAM Approach for Indoor Applications. Scientific Programming،Vol. 2016, no. 2016, pp.1-8.
https://search.emarefa.net/detail/BIM-1118280
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Li, Yongfei…[et al.]. A Novel Metric Online Monocular SLAM Approach for Indoor Applications. Scientific Programming No. 2016 (2016), pp.1-8.
https://search.emarefa.net/detail/BIM-1118280
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Li, Yongfei& Wang, Shicheng& Yang, Dongfang& Sun, Dawei. A Novel Metric Online Monocular SLAM Approach for Indoor Applications. Scientific Programming. 2016. Vol. 2016, no. 2016, pp.1-8.
https://search.emarefa.net/detail/BIM-1118280
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1118280
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
تقوم هذه الخدمة بالتحقق من التشابه أو الانتحال في الأبحاث والمقالات العلمية والأطروحات الجامعية والكتب والأبحاث باللغة العربية، وتحديد درجة التشابه أو أصالة الأعمال البحثية وحماية ملكيتها الفكرية. تعرف اكثر