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Title: A frequency-drift compensated closed-form solution for stereo RGB-D mapping
Authors: Tang, SJ 
Zhu, Q
Chen, W 
Wang, WX
Li, Y
Darwish, W 
Li, WB 
Keywords: Camera tracking
Indoor mapping
Point cloud
Stereo camera
Issue Date: 2019
Publisher: Copernicus Publications
Source: ISPRS annals of the photogrammetry, remote sensing and spatial information sciences, 2019, v. 4, no. 2/W5, p. 293-297 How to cite?
Journal: ISPRS annals of the photogrammetry, remote sensing and spatial information sciences 
Abstract: In this work, we present a frequency-drift compensated (Fd-C) closed-form solution for stereo RGB-D SLAM. The intrinsic parameters for each sensor are first obtained with a standard camera calibration process and the extrinsic orientation parameters achieved through a coarse-to-fine scheme that solves the initial exterior orientation parameters (EoPs) from control markers and further refines the initial value by an iterative closest point (ICP) variant minimizing the distance between the RGB-D point clouds and the referenced laser point clouds. With the assumption of fix transformation between the frames with the same timestamp, we define one sensor as reference sensor and the other sensor as slave sensor and the slave frames can be mapped to the timeline of the references sensor. Rather than endow the camera pose of the nearest frame to the slave frames, we derive the accurate camera pose for slave frames in a spatially variant way. Therefore, the pose relations between the slave frame and the adjacent reference frame can be derived, which provided opportunity to use the more accuracy observations from multiple frames for better tracking and global optimization. We present the mathematical analysis of the iterative optimizations for pose tracking in multi-RGB-D camera cases. Finally, the experiments in complex indoor scenarios demonstrate the efficiency of the proposed multiple RGB-D slam algorithm.
Description: 4th ISPRS Geospatial Week 2019, Netherlands, 10-14 June 2019
ISSN: 2194-9042
EISSN: 2194-9050
DOI: 10.5194/isprs-annals-IV-2-W5-293-2019
Rights: © Authors 2019. CC BY 4.0 License. This work is distributed under the Creative Commons Attribution 4.0 License.
The following publication Tang, S. J., Zhu, Q., Chen, W., Wang, W. X., Li, Y., Darwish, W., and Li, W. B.: A FREQUENCY-DRIFT COMPENSATED CLOSED-FORM SOLUTION FOR STEREO RGB-D MAPPING, ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci., IV-2/W5, 293-297 is available at, 2019
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