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| 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 |
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| 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 | |
| Copyright and reproduction |
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) | |
| Download PDF | MVE2013-31 |
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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 |
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| 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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| Speaker | Author-1 |
| Date Time | 2013-09-27 12:05:00 |
| Presentation Time | 25 minutes |
| Registration for | MVE |
| Paper # | MVE2013-31 |
| Volume (vol) | vol.113 |
| Number (no) | no.227 |
| Page | pp.147-152 |
| #Pages | 6 |
| Date of Issue | 2013-09-19 (MVE) |
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