MONO-HYDRA: REAL-TIME 3D SCENE GRAPH CONSTRUCTION FROM MONOCULAR CAMERA INPUT WITH IMU
| Autor: | U. V. B. L. Udugama, G. Vosselman, F. Nex |
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| Jazyk: | angličtina |
| Rok vydání: | 2023 |
| Předmět: | |
| Zdroj: | ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Vol X-1-W1-2023, Pp 439-445 (2023) |
| Druh dokumentu: | article |
| ISSN: | 2194-9042 2194-9050 |
| DOI: | 10.5194/isprs-annals-X-1-W1-2023-439-2023 |
| Popis: | The ability of robots to autonomously navigate through 3D environments depends on their comprehension of spatial concepts, ranging from low-level geometry to high-level semantics, such as objects, places, and buildings. To enable such comprehension, 3D scene graphs have emerged as a robust tool for representing the environment as a layered graph of concepts and their relationships. However, building these representations using monocular vision systems in real-time remains a difficult task that has not been explored in depth.This paper puts forth a real-time spatial perception system Mono-Hydra, combining a monocular camera and an IMU sensor setup, focusing on indoor scenarios. However, the proposed approach is adaptable to outdoor applications, offering flexibility in its potential uses. The system employs a suite of deep learning algorithms to derive depth and semantics. It uses a robocentric visual-inertial odometry (VIO) algorithm based on square-root information, thereby ensuring consistent visual odometry with an IMU and a monocular camera. This system achieves sub-20 cm error in real-time processing at 15 fps, enabling real-time 3D scene graph construction using a laptop GPU (NVIDIA 3080). This enhances decision-making efficiency and effectiveness in simple camera setups, augmenting robotic system agility. We make Mono-Hydra publicly available at: https://github.com/UAV-Centre-ITC/Mono_Hydra. |
| Databáze: | Directory of Open Access Journals |
| Externí odkaz: |
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