Please use this identifier to cite or link to this item: http://hdl.handle.net/10397/79257
PIRA download icon_1.1View/Download Full Text
DC FieldValueLanguage
dc.contributorDepartment of Land Surveying and Geo-Informatics-
dc.creatorTang, SJ-
dc.creatorChen, W-
dc.creatorWang, WX-
dc.creatorLi, XM-
dc.creatorDarwish, W-
dc.creatorLi, WB-
dc.creatorHuang, ZD-
dc.creatorHu, H-
dc.creatorGuo, RZ-
dc.date.accessioned2018-11-05T01:45:11Z-
dc.date.available2018-11-05T01:45:11Z-
dc.identifier.issn1424-8220en_US
dc.identifier.urihttp://hdl.handle.net/10397/79257-
dc.language.isoenen_US
dc.publisherMolecular Diversity Preservation International (MDPI)en_US
dc.rights© 2018 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).en_US
dc.rightsThe following publication Tang, S., Chen, W., Wang, W., Li, X., Darwish, W., Li, W., ... & Guo, R. (2018). Geometric Integration of Hybrid Correspondences for RGB-D Unidirectional Tracking. Sensors (Basel, Switzerland), 18(5), 1-23 is available at https://dx.doi.org/10.3390/s18051385en_US
dc.subjectRGB-Den_US
dc.subjectPoint cloud registrationen_US
dc.subjectBundle adjustmenten_US
dc.subjectFeature matchingen_US
dc.subjectCamera trackingen_US
dc.titleGeometric integration of hybrid correspondences for RGB-D unidirectional trackingen_US
dc.typeJournal/Magazine Articleen_US
dc.identifier.spage1en_US
dc.identifier.epage23en_US
dc.identifier.volume18en_US
dc.identifier.issue5en_US
dc.identifier.doi10.3390/s18051385en_US
dcterms.abstractTraditionally, visual-based RGB-D SLAM systems only use correspondences with valid depth values for camera tracking, thus ignoring the regions without 3D information. Due to the strict limitation on measurement distance and view angle, such systems adopt only short-range constraints which may introduce larger drift errors during long-distance unidirectional tracking. In this paper, we propose a novel geometric integration method that makes use of both 2D and 3D correspondences for RGB-D tracking. Our method handles the problem by exploring visual features both when depth information is available and when it is unknown. The system comprises two parts: coarse pose tracking with 3D correspondences, and geometric integration with hybrid correspondences. First, the coarse pose tracking generates the initial camera pose using 3D correspondences with frame-by-frame registration. The initial camera poses are then used as inputs for the geometric integration model, along with 3D correspondences, 2D-3D correspondences and 2D correspondences identified from frame pairs. The initial 3D location of the correspondence is determined in two ways, from depth image and by using the initial poses to triangulate. The model improves the camera poses and decreases drift error during long-distance RGB-D tracking iteratively. Experiments were conducted using data sequences collected by commercial Structure Sensors. The results verify that the geometric integration of hybrid correspondences effectively decreases the drift error and improves mapping accuracy. Furthermore, the model enables a comparative and synergistic use of datasets, including both 2D and 3D features.-
dcterms.accessRightsopen access-
dcterms.bibliographicCitationSensors (Switzerland), May 2018, v. 18, no. 5, 1385, P. 1-23-
dcterms.isPartOfSensors (Switzerland)-
dcterms.issued2018-
dc.identifier.isiWOS:000435580300084-
dc.identifier.scopus2-s2.0-85046376725-
dc.identifier.pmid29723974-
dc.identifier.artn1385en_US
dc.identifier.rosgroupid2017004784-
dc.description.ros2017-2018 > Academic research: refereed > Publication in refereed journal-
dc.description.validate201810 bcrcen_US
dc.description.oaVersion of Record-
dc.identifier.FolderNumberOA_IR/PIRAen_US
dc.description.pubStatusPublished-
Appears in Collections:Journal/Magazine Article
Files in This Item:
File Description SizeFormat 
Tang_Geometric_Hybrid_RGB-D.pdf4.66 MBAdobe PDFView/Open
Open Access Information
Status open access
File Version Version of Record
Access
View full-text via PolyU eLinks SFX Query
Show simple item record

Page views

82
Citations as of Jun 19, 2022

Downloads

109
Citations as of Jun 19, 2022

SCOPUSTM   
Citations

8
Last Week
0
Last month
Citations as of Jun 23, 2022

WEB OF SCIENCETM
Citations

6
Last Week
0
Last month
Citations as of Jun 23, 2022

Google ScholarTM

Check

Altmetric


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.