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Real-time surface of revolution reconstruction on dense SLAM

Abstract : 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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https://hal.archives-ouvertes.fr/hal-01389060
Contributor : Guillaume Moreau <>
Submitted on : Thursday, October 27, 2016 - 8:26:01 PM
Last modification on : Wednesday, April 29, 2020 - 7:42:02 AM

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  • HAL Id : hal-01389060, version 1

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Liming Yang, Hideaki Uchiyama, Jean-Marie Normand, Guillaume Moreau, Hajime Nahagara, et al.. Real-time surface of revolution reconstruction on dense SLAM. 3D Vision Conference 2016, Oct 2016, Palo Alto, United States. ⟨hal-01389060⟩

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