Towards geographical referencing of monocular SLAM reconstruction using 3D city models: Application to real-time accurate vision-based localization
Towards geographical referencing of monocular SLAM reconstruction using 3D city models: Application to real-time accurate vision-based localization
复制标题
使用 3D 城市模型进行单目 SLAM 重建的地理参考：应用于基于视觉的实时精确定位
DOI：
10.1109/cvpr.2009.5206662
复制
发表时间：
2009
期刊：
影响因子：
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通讯作者：
M. Dhome
中科院分区：
文献类型：
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作者：
P. Lothe;S. Bourgeois;F. Dekeyser;E. Royer;M. Dhome
在过去的几年里，在同步定位与建图（SLAM）方面取得了大量的工作。现在可以在未知环境中实时跟踪移动摄像机的轨迹。然而，当前的SLAM方法仍然容易出现漂移误差，这阻碍了它们在大规模应用中的使用。在本文中，我们提出了一种减少这些后验错误的解决方案。我们的解决方案基于后处理算法，该算法利用相对于环境的附加几何约束来校正重建的几何结构和相机轨迹。这些几何约束是通过环境的粗略 3D 模型获得的，类似于 GIS 数据库提供的模型。首先，我们提出了一个原始的铰接变换模型，以便通过非刚性 ICP 步骤将 SLAM 重建与该 3D 模型大致对齐。然后，为了改进重建，我们引入了一种新的捆绑调整成本函数，该函数在一项中包括通常的 3D 点/ID 观测一致性约束以及 3D 模型提供的几何约束。大规模合成和真实序列的结果表明，我们的方法成功改进了 SLAM 重建。此外，实验证明所得到的重建足够准确，可以直接用于全局重定位应用。
In the past few years, lots of works were achieved on Simultaneous Localization and Mapping (SLAM). It is now possible to follow in real time the trajectory of a moving camera in an unknown environment. However, current SLAM methods are still prone to drift errors, which prevent their use in large-scale applications. In this paper, we propose a solution to reduce those errors a posteriori. Our solution is based on a postprocessing algorithm that exploits additional geometric constraints, relative to the environment, to correct both the reconstructed geometry and the camera trajectory. These geometric constraints are obtained through a coarse 3D modelisation of the environment, similar to those provided by GIS database. First, we propose an original articulated transformation model in order to roughly align the SLAM reconstruction with this 3D model through a non-rigid ICP step. Then, to refine the reconstruction, we introduce a new bundle adjustment cost function that includes, in a single term, the usual 3D point/ID observation consistency constraint as well as the geometric constraints provided by the 3D model. Results on large-scale synthetic and real sequences show that our method successfully improves SLAM reconstructions. Besides, experiments prove that the resulting reconstruction is accurate enough to be directly used for global relocalization applications.
考虑1岁和2岁儿童的“生活质量” - 考虑托儿所的上课时间为10:00至13:00 -
DOI：
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发表时间：
2007
期刊：
影响因子：
--
作者：
阿部;和子
通讯作者：
和子