3D panorama reconstruction based on sitemap joining

Huixuan Wang, Yanwen Guo, Minh N. Do, Caiming Zhang, Changhe Tu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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.

Original languageEnglish (US)
Title of host publication2016 IEEE International Conference on Acoustics, Speech and Signal Processing, ICASSP 2016 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1611-1615
Number of pages5
ISBN (Electronic)9781479999880
DOIs
StatePublished - May 18 2016
Event41st IEEE International Conference on Acoustics, Speech and Signal Processing, ICASSP 2016 - Shanghai, China
Duration: Mar 20 2016Mar 25 2016

Publication series

NameICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing - Proceedings
Volume2016-May
ISSN (Print)1520-6149

Other

Other41st IEEE International Conference on Acoustics, Speech and Signal Processing, ICASSP 2016
CountryChina
CityShanghai
Period3/20/163/25/16

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Keywords

  • RGB-D camera
  • SLAM
  • linear optimization
  • visual odometry

ASJC Scopus subject areas

  • Software
  • Signal Processing
  • Electrical and Electronic Engineering

Cite this

Wang, H., Guo, Y., Do, M. N., Zhang, C., & Tu, C. (2016). 3D panorama reconstruction based on sitemap joining. In 2016 IEEE International Conference on Acoustics, Speech and Signal Processing, ICASSP 2016 - Proceedings (pp. 1611-1615). [7471949] (ICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing - Proceedings; Vol. 2016-May). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICASSP.2016.7471949