A dense map building approach from spherical RGBD images

Tawsif Gokhool 1 Maxime Meilland 2 Patrick Rives 1 Eduardo Fernandez-Moral 3
1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : Visual mapping is a required capability for practical autonomous mobile robots where there exists a grow- ing industry with applications ranging from the service to industrial sectors. Prior to map building, Visual Odometry(VO) is an essential step required in the process of pose graph construction. In this work, we first propose to tackle the pose estimation problem by using both photometric and geometric information in a direct RGBD image registration method. Secondly, the mapping problem is tackled with a pose graph representation, whereby, given a database of augmented visual spheres, a travelled trajectory with redundant information is pruned out to a skeletal pose graph. Both methods are evaluated with data acquired with a recently proposed omnidirectional RGBD sensor for indoor environments.
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Communication dans un congrès
Int. Conf. on Computer Vision Theory and Applications, VISAPP, Jan 2014, Lisbon, Portugal
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https://hal.archives-ouvertes.fr/hal-01086902
Contributeur : Eric Marchand <>
Soumis le : jeudi 27 novembre 2014 - 08:51:39
Dernière modification le : jeudi 9 février 2017 - 15:30:43

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2014_visapp_gokhool.pdf
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  • HAL Id : hal-01086902, version 1

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Tawsif Gokhool, Maxime Meilland, Patrick Rives, Eduardo Fernandez-Moral. A dense map building approach from spherical RGBD images. Int. Conf. on Computer Vision Theory and Applications, VISAPP, Jan 2014, Lisbon, Portugal. <hal-01086902>

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