Please use this identifier to cite or link to this item:
http://hdl.handle.net/10397/81252
DC Field | Value | Language |
---|---|---|
dc.contributor | Department of Land Surveying and Geo-Informatics | - |
dc.creator | Tang, SJ | - |
dc.creator | Zhu, Q | - |
dc.creator | Chen, W | - |
dc.creator | Wang, WX | - |
dc.creator | Li, Y | - |
dc.creator | Darwish, W | - |
dc.creator | Li, WB | - |
dc.date.accessioned | 2019-08-23T08:29:55Z | - |
dc.date.available | 2019-08-23T08:29:55Z | - |
dc.identifier.issn | 2194-9042 | - |
dc.identifier.uri | http://hdl.handle.net/10397/81252 | - |
dc.description | 4th ISPRS Geospatial Week 2019, Netherlands, 10-14 June 2019 | en_US |
dc.language.iso | en | en_US |
dc.publisher | Copernicus Publications | en_US |
dc.rights | © Authors 2019. CC BY 4.0 License. This work is distributed under the Creative Commons Attribution 4.0 License. | en_US |
dc.rights | 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 https://doi.org/10.5194/isprs-annals-IV-2-W5-293-2019, 2019 | en_US |
dc.subject | Camera tracking | en_US |
dc.subject | Indoor mapping | en_US |
dc.subject | Point cloud | en_US |
dc.subject | Stereo camera | en_US |
dc.title | A frequency-drift compensated closed-form solution for stereo RGB-D mapping | en_US |
dc.type | Conference Paper | en_US |
dc.identifier.spage | 293 | - |
dc.identifier.epage | 297 | - |
dc.identifier.volume | 4 | - |
dc.identifier.issue | 2/W5 | - |
dc.identifier.doi | 10.5194/isprs-annals-IV-2-W5-293-2019 | - |
dcterms.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. | - |
dcterms.accessRights | open access | en_US |
dcterms.bibliographicCitation | ISPRS annals of the photogrammetry, remote sensing and spatial information sciences, 2019, v. 4, no. 2/W5, p. 293-297 | - |
dcterms.isPartOf | ISPRS annals of the photogrammetry, remote sensing and spatial information sciences | - |
dcterms.issued | 2019 | - |
dc.identifier.scopus | 2-s2.0-85067500714 | - |
dc.relation.conference | ISPRS Geospatial Week | - |
dc.identifier.eissn | 2194-9050 | - |
dc.description.validate | 201908 bcma | - |
dc.description.oa | Version of Record | en_US |
dc.identifier.FolderNumber | OA_Scopus/WOS | en_US |
dc.description.pubStatus | Published | en_US |
dc.description.oaCategory | CC | en_US |
Appears in Collections: | Conference Paper |
Files in This Item:
File | Description | Size | Format | |
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Tang_FREQUENCY-DRIFT_COMPENSATED_CLOSED-FORM.pdf | 1.73 MB | Adobe PDF | View/Open |
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