稠密SLAM的实时旋转曲面重建

2016 Fourth International Conference on 3D Vision (3DV) Pub Date : 2016-12-15 DOI:10.1109/3DV.2016.13

Liming Yang, Hideaki Uchiyama, Jean-Marie Normand, G. Moreau, H. Nagahara, R. Taniguchi

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引用次数: 5

摘要

提出了一种基于三维数据快速准确地重建旋转曲面的方法，并将其应用于混乱场景的实时结构建模。为了估计SoR轴，我们推导了一个近似线性的代价函数来快速收敛。此外，我们还设计了一个在密集SLAM上重构SoR的框架。实验结果表明，该方法具有精度高、抗噪声强、实时性好的特点。

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Real-Time Surface of Revolution Reconstruction on Dense SLAM

We present a fast and accurate method for reconstructing surfaces of revolution (SoR) on 3D data and its application to structural modeling of a cluttered scene in real-time. To estimate a SoR axis, we derive an approximately linear cost function for fast convergence. Also, we design a framework for reconstructing SoR on dense SLAM. In the experiment results, we show our method is accurate, robust to noise and runs in real-time.

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来源期刊

2016 Fourth International Conference on 3D Vision (3DV)

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