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Paper Abstract and Keywords
Presentation 2013-09-27 12:05
Metric Rectification of Orthogonal Planes for 3D SLAM
Naoya Makibuchi, Haruhisa Kato, Hiromasa Yanagihara (KDDI R&D Labs.) MVE2013-31
Abstract (in Japanese) (See Japanese page) 
(in English) For developing, 3D SLAM system that focuses on a single plane, the approach using a metric rectification of the plane from multiple view images as a plane mapping algorithm has been proposed. However, the approach has a problem about plane-reconstruction precision in the case of insufficient input images. In a 3D environment composed of multiple planes such as wall and floor, point correspondences on two planes can be input to the system at the boundary between the planes. Therefore, we propose a novel approach of planar metric rectification using orthogonality between two planes, which is applicable to the orthogonal environment. Using planes orthogonality as a constraint reduces the number of unknown parameters compared with the approach which apply the conventional method to the two planes independently. In our experiments, we show that the proposed method can decrease plane-reconstruction error by as much as 36.7% on average compared with the conventional method.
Keyword (in Japanese) (See Japanese page) 
(in English) Image Rectification / 3D Reconstruction / Simultaneous Localization and Mapping / / / / /  
Reference Info. IEICE Tech. Rep., vol. 113, no. 227, MVE2013-31, pp. 147-152, Sept. 2013.
Paper # MVE2013-31 
Date of Issue 2013-09-19 (MVE) 
ISSN Print edition: ISSN 0913-5685  Online edition: ISSN 2432-6380
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
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Conference Information
Committee MVE HI-SIG-VR  
Conference Date 2013-09-26 - 2013-09-27 
Place (in Japanese) (See Japanese page) 
Place (in English) Rishiri Island, "Donto" 
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To MVE 
Conference Code 2013-09-MVE-SIG-VR 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Metric Rectification of Orthogonal Planes for 3D SLAM 
Sub Title (in English)  
Keyword(1) Image Rectification  
Keyword(2) 3D Reconstruction  
Keyword(3) Simultaneous Localization and Mapping  
1st Author's Name Naoya Makibuchi  
1st Author's Affiliation KDDI R&D Laboratories Inc. (KDDI R&D Labs.)
2nd Author's Name Haruhisa Kato  
2nd Author's Affiliation KDDI R&D Laboratories Inc. (KDDI R&D Labs.)
3rd Author's Name Hiromasa Yanagihara  
3rd Author's Affiliation KDDI R&D Laboratories Inc. (KDDI R&D Labs.)
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Date Time 2013-09-27 12:05:00 
Presentation Time 25 
Registration for MVE 
Paper # IEICE-MVE2013-31 
Volume (vol) IEICE-113 
Number (no) no.227 
Page pp.147-152 
#Pages IEICE-6 
Date of Issue IEICE-MVE-2013-09-19 

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