A 3D Reconstruction Method Using Multisensor Fusion in Large-Scale Indoor Scenes
المؤلفون المشاركون
Gu, Panlong
Zhou, Fengyu
Yu, Dianguo
Wan, Fang
Wang, Wei
Yu, Bangguo
المصدر
العدد
المجلد 2020، العدد 2020 (31 ديسمبر/كانون الأول 2020)، ص ص. 1-14، 14ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2020-09-24
دولة النشر
مصر
عدد الصفحات
14
التخصصات الرئيسية
الملخص EN
RGBD camera-based VSLAM (Visual Simultaneous Localization and Mapping) algorithm is usually applied to assist robots with real-time mapping.
However, due to the limited measuring principle, accuracy, and distance of the equipped camera, this algorithm has typical disadvantages in the large and dynamic scenes with complex lightings, such as poor mapping accuracy, easy loss of robot position, and much cost on computing resources.
Regarding these issues, this paper proposes a new method of 3D interior construction, which combines laser radar and an RGBD camera.
Meanwhile, it is developed based on the Cartographer laser SLAM algorithm.
The proposed method mainly takes two steps.
The first step is to do the 3D reconstruction using the Cartographer algorithm and RGBD camera.
It firstly applies the Cartographer algorithm to calculate the pose of the RGBD camera and to generate a submap.
Then, a real-time 3D point cloud generated by using the RGBD camera is inserted into the submap, and the real-time interior construction is finished.
The second step is to improve Cartographer loop-closure quality by the visual loop-closure for the sake of correcting the generated map.
Compared with traditional methods in large-scale indoor scenes, the proposed algorithm in this paper shows higher precision, faster speed, and stronger robustness in such contexts, especially with complex light and dynamic objects, respectively.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Gu, Panlong& Zhou, Fengyu& Yu, Dianguo& Wan, Fang& Wang, Wei& Yu, Bangguo. 2020. A 3D Reconstruction Method Using Multisensor Fusion in Large-Scale Indoor Scenes. Complexity،Vol. 2020, no. 2020, pp.1-14.
https://search.emarefa.net/detail/BIM-1143482
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Gu, Panlong…[et al.]. A 3D Reconstruction Method Using Multisensor Fusion in Large-Scale Indoor Scenes. Complexity No. 2020 (2020), pp.1-14.
https://search.emarefa.net/detail/BIM-1143482
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Gu, Panlong& Zhou, Fengyu& Yu, Dianguo& Wan, Fang& Wang, Wei& Yu, Bangguo. A 3D Reconstruction Method Using Multisensor Fusion in Large-Scale Indoor Scenes. Complexity. 2020. Vol. 2020, no. 2020, pp.1-14.
https://search.emarefa.net/detail/BIM-1143482
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1143482
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