@inproceedings{2cf674803af64c6b8426a9180b1340e2,
title = "3D panorama reconstruction based on sitemap joining",
abstract = "We present a new approach for constructing the 3D panorama for an indoor environment by joining together aligned submaps. For each submap, the trajectory of the moving camera is estimated based on the Kanade-Lucas-Tomasi (KLT) features. Our method can update the feature set status by adding new features and removing expiring ones adaptively to accommodate scene changes. The accuracy of the estimated poses is further improved through sparse bundle adjustment. Furthermore, we utilize a linear optimization framework to align all submaps to obtain a consistently extended 3D panorama and to refine the visual odometry at the same time. We evaluated our approach on publicly available benchmark datasets. The experiments demonstrate that the proposed method achieves low translational drift and is robust even when the camera moves very fast.",
keywords = "RGB-D camera, SLAM, linear optimization, visual odometry",
author = "Huixuan Wang and Yanwen Guo and Do, {Minh N.} and Caiming Zhang and Changhe Tu",
note = "Funding Information: We gratefully acknowledge the support of the US National Science Foundation (Grant Number CCF-1218682) Publisher Copyright: {\textcopyright} 2016 IEEE. Copyright: Copyright 2016 Elsevier B.V., All rights reserved.; 41st IEEE International Conference on Acoustics, Speech and Signal Processing, ICASSP 2016 ; Conference date: 20-03-2016 Through 25-03-2016",
year = "2016",
month = may,
day = "18",
doi = "10.1109/ICASSP.2016.7471949",
language = "English (US)",
series = "ICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing - Proceedings",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1611--1615",
booktitle = "2016 IEEE International Conference on Acoustics, Speech and Signal Processing, ICASSP 2016 - Proceedings",
address = "United States",
}