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Visual Map Construction Using RGB-D Sensors for Image-Based Localization in Indoor Environments
Joint Authors
Tan, Xuezhi
Ma, Lin
Feng, Guanyuan
Source
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-18, 18 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-10-18
Country of Publication
Egypt
No. of Pages
18
Main Subjects
Abstract EN
RGB-D sensors capture RGB images and depth images simultaneously, which makes it possible to acquire the depth information at pixel level.
This paper focuses on the use of RGB-D sensors to construct a visual map which is an extended dense 3D map containing essential elements for image-based localization, such as poses of the database camera, visual features, and 3D structures of the building.
Taking advantage of matched visual features and corresponding depth values, a novel local optimization algorithm is proposed to achieve point cloud registration and database camera pose estimation.
Next, graph-based optimization is used to obtain the global consistency of the map.
On the basis of the visual map, the image-based localization method is investigated, making use of the epipolar constraint.
The performance of the visual map construction and the image-based localization are evaluated on typical indoor scenes.
The simulation results show that the average position errors of the database camera and the query camera can be limited to within 0.2 meters and 0.9 meters, respectively.
American Psychological Association (APA)
Feng, Guanyuan& Ma, Lin& Tan, Xuezhi. 2017. Visual Map Construction Using RGB-D Sensors for Image-Based Localization in Indoor Environments. Journal of Sensors،Vol. 2017, no. 2017, pp.1-18.
https://search.emarefa.net/detail/BIM-1187426
Modern Language Association (MLA)
Feng, Guanyuan…[et al.]. Visual Map Construction Using RGB-D Sensors for Image-Based Localization in Indoor Environments. Journal of Sensors No. 2017 (2017), pp.1-18.
https://search.emarefa.net/detail/BIM-1187426
American Medical Association (AMA)
Feng, Guanyuan& Ma, Lin& Tan, Xuezhi. Visual Map Construction Using RGB-D Sensors for Image-Based Localization in Indoor Environments. Journal of Sensors. 2017. Vol. 2017, no. 2017, pp.1-18.
https://search.emarefa.net/detail/BIM-1187426
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1187426