Robust loop closures for scene reconstruction by combining odometry and visual correspondences
| Autor: | Zakaria Laskar, Sami Huttunen, Juho Kannala, Esa Rahtu, C Daniel Herrera |
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| Jazyk: | angličtina |
| Rok vydání: | 2016 |
| Předmět: |
ta113
business.industry loop closures 3D reconstruction ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION 02 engineering and technology Iterative reconstruction Visualization Software Loop closure Odometry Computer Science::Computer Vision and Pattern Recognition 020204 information systems Image sequence SLAM 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing Computer vision Artificial intelligence business Mathematics |
| Zdroj: | ICIP |
| Popis: | Given an image sequence and odometry from a moving camera, we propose a batch-based approach for robust reconstruction of scene structure and camera motion. A key part of our method is robust loop closure disambiguation. First, a structure-from-motion pipeline is used to get a set of candidate feature correspondences and the respective triangulated 3D landmarks. Thereafter, the compatibility of each correspondence constraint and the odometry is evaluated in a bundle-adjustment optimization, where only compatible constraints affect. Our approach is evaluated using data from a Google Tango device. The results show that it produces better reconstructions than the device's built-in software or a state-of-the-art pose-graph formulation. |
| Databáze: | OpenAIRE |
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