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Geometrically stable tracking for depth images based 3D reconstruction on mobile devices
Liu, Yangdong; Gao, Wei1; Hu, Zhanyi
2018-09-01
发表期刊ISPRS JOURNAL OF PHOTOGRAMMETRY AND REMOTE SENSING
卷号143期号:x页码:222-232
文章类型Article
摘要With the development of hardwares such as mobile devices and portable depth cameras, on-line 3D reconstruction on the mobile devices with depth streams as input turns to be possible and promising. Most existing systems use volumetric representation methods to fuse the depth images and use ICP algorithm to estimate the poses of cameras. However, ICP tracker suffers from large drift in scenes containing insufficient geometric information. To deal with this problem, we propose a stability based sampling method which select different number of point-pairs in different windows according to their geometric stability. In addition, we fuse the ICP tracker with the IMU information through an analysis of the condition number. Then we apply the stability based sampling method to the spatially hashed volumetric representation. Qualitative and quantitative evaluations of tracking accuracy and 3D reconstruction results show that our method outperforms the current state-of-the-art systems, especially in scenes lacking sufficient geometric information. In total, our method achieves frame rates 20 Hz on an Apple iPad Air 2 and 200 Hz on a Nvidia GeForce GTX 1060 GPU. (C) 2018 International Society for Photogrammetry and Remote Sensing, Inc. (ISPRS). Published by Elsevier B.V. All rights reserved.
关键词Visual-slam Dense Mapping Icp Algorithm Sampling Algorithm On-line Mobile Device
WOS标题词Science & Technology ; Physical Sciences ; Technology
DOI10.1016/j.isprsjprs.2018.03.009
关键词[WOS]SLAM SYSTEM ; INTEGRATION
收录类别SCI
语种英语
项目资助者National Key R&D Program of China(2016YFB0502002) ; Natural Science Foundation of China(61333015 ; 61472419 ; 61421004)
WOS研究方向Physical Geography ; Geology ; Remote Sensing ; Imaging Science & Photographic Technology
WOS类目Geography, Physical ; Geosciences, Multidisciplinary ; Remote Sensing ; Imaging Science & Photographic Technology
WOS记录号WOS:000442709900019
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/21864
专题模式识别国家重点实验室_机器人视觉
作者单位1.Chinese Acad Sci, Inst Automat, Natl Lab Pattern Recognit, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China
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Liu, Yangdong,Gao, Wei,Hu, Zhanyi. Geometrically stable tracking for depth images based 3D reconstruction on mobile devices[J]. ISPRS JOURNAL OF PHOTOGRAMMETRY AND REMOTE SENSING,2018,143(x):222-232.
APA Liu, Yangdong,Gao, Wei,&Hu, Zhanyi.(2018).Geometrically stable tracking for depth images based 3D reconstruction on mobile devices.ISPRS JOURNAL OF PHOTOGRAMMETRY AND REMOTE SENSING,143(x),222-232.
MLA Liu, Yangdong,et al."Geometrically stable tracking for depth images based 3D reconstruction on mobile devices".ISPRS JOURNAL OF PHOTOGRAMMETRY AND REMOTE SENSING 143.x(2018):222-232.
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