TY - GEN
T1 - Pose estimation and 3D environment reconstruction using less reliable depth data
AU - Jo, Sungjin
AU - Jo, Hyung Gi
AU - Cho, Hae Min
AU - Kim, Euntai
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/8/25
Y1 - 2015/8/25
N2 - Pose estimation and 3D reconstruction of environment are essential technics in robotics and computer vision. In this paper we present a method for camera tracking and 3D reconstruction of static environments, using a ToF sensor which provides less reliable depth information. Based on a primary camera pose, we eliminate outlier in distance measurements. Subsequently, we estimate camera pose again using only inlier data. A voxel grid map is updated by integrating depth measurement with a truncated signed distance function. It is represented as 3D environment reconstruction. Our method is an attractive extending of the pose estimation in outdoor environment. In outdoor environment, 3D range cameras cannot measure the distance or they provide inaccurate distance measurement. The experiments were carried out both in indoor and outdoor and we analyze the results of the proposed methods which use a ToF camera in comparison with a previous approach.
AB - Pose estimation and 3D reconstruction of environment are essential technics in robotics and computer vision. In this paper we present a method for camera tracking and 3D reconstruction of static environments, using a ToF sensor which provides less reliable depth information. Based on a primary camera pose, we eliminate outlier in distance measurements. Subsequently, we estimate camera pose again using only inlier data. A voxel grid map is updated by integrating depth measurement with a truncated signed distance function. It is represented as 3D environment reconstruction. Our method is an attractive extending of the pose estimation in outdoor environment. In outdoor environment, 3D range cameras cannot measure the distance or they provide inaccurate distance measurement. The experiments were carried out both in indoor and outdoor and we analyze the results of the proposed methods which use a ToF camera in comparison with a previous approach.
UR - http://www.scopus.com/inward/record.url?scp=84951095959&partnerID=8YFLogxK
U2 - 10.1109/AIM.2015.7222558
DO - 10.1109/AIM.2015.7222558
M3 - Conference contribution
AN - SCOPUS:84951095959
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 359
EP - 364
BT - AIM 2015 - 2015 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2015
Y2 - 7 July 2015 through 11 July 2015
ER -