Journal cover Journal topic
Abstracts of the ICA
Journal topic
Volume 1
Abstr. Int. Cartogr. Assoc., 1, 362, 2019
https://doi.org/10.5194/ica-abs-1-362-2019
© Author(s) 2019. This work is distributed under
the Creative Commons Attribution 4.0 License.
Abstr. Int. Cartogr. Assoc., 1, 362, 2019
https://doi.org/10.5194/ica-abs-1-362-2019
© Author(s) 2019. This work is distributed under
the Creative Commons Attribution 4.0 License.

  15 Jul 2019

15 Jul 2019

Stereo RGB-D indoor mapping with precise stream fusing strategy

Shengjun Tang, Weixi Wang, Xiaoming Li, and Zhilu Yuan Shengjun Tang et al.
  • Research Institute for Smart Cities & Shenzhen Key Laboratory of Spatial Information Smart Sensing and Services, School of Architecture and Urban Planning, Shenzhen University, Shenzhen, China

Keywords: Stereo camera, Camera tracking, Point Cloud, Indoor Mapping

Abstract. In order to achieve more robust pose tracking and mapping of visual SLAM, the robotics researcher has recently shown a growing interest in utilising multiple camera, which is able to provide more sufficient observations to fulfil the frame registration and map updating tasks. This implies that better pose tracking robustness can be achieved by extending monocular visual SLAM to utilise measurements from multiple cameras.[1] proposed a visual SLAM method using multiple RGB-D cameras, which integrate the observations from multi-camera for camera tracking. However, they ignored the time-drift between the frames obtained by different cameras, which may result at inaccurate positions of observation used for map updating. Besides, loop closure detection was not been implemented. [2] constructed a multiple RGB-D system with three Kinects V2 camera. This work mainly concentrated on the intrinsic and extrinsic calibration and verify the effectiveness of mapping using multiply RGB-D cameras.

Publications Copernicus
Download
Citation