Knowledge Commons of Institute of Automation,CAS
Geometrically stable tracking for depth images based 3D reconstruction on mobile devices | |
Liu, Yangdong1,2; Gao, Wei1,2; Hu, Zhanyi1,2 | |
发表期刊 | ISPRS JOURNAL OF PHOTOGRAMMETRY AND REMOTE SENSING |
2018-09-01 | |
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 |
DOI | 10.1016/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 | 多模态人工智能系统全国重点实验室_机器人视觉 |
通讯作者 | Gao, Wei |
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 |
第一作者单位 | 模式识别国家重点实验室 |
通讯作者单位 | 模式识别国家重点实验室 |
推荐引用方式 GB/T 7714 | 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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