CASIA OpenIR  > 模式识别国家重点实验室  > 机器人视觉
Geometrically stable tracking for depth images based 3D reconstruction on mobile devices
Liu, Yangdong1,2; Gao, Wei1,2; Hu, Zhanyi1,2
Source PublicationISPRS JOURNAL OF PHOTOGRAMMETRY AND REMOTE SENSING
2018-09-01
Volume143Issue:xPages:222-232
SubtypeArticle
Abstract

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.

KeywordVisual-slam Dense Mapping Icp Algorithm Sampling Algorithm On-line Mobile Device
WOS HeadingsScience & Technology ; Physical Sciences ; Technology
DOI10.1016/j.isprsjprs.2018.03.009
WOS KeywordSLAM SYSTEM ; INTEGRATION
Indexed BySCI
Language英语
Funding OrganizationNational Key R&D Program of China(2016YFB0502002) ; Natural Science Foundation of China(61333015 ; 61472419 ; 61421004)
WOS Research AreaPhysical Geography ; Geology ; Remote Sensing ; Imaging Science & Photographic Technology
WOS SubjectGeography, Physical ; Geosciences, Multidisciplinary ; Remote Sensing ; Imaging Science & Photographic Technology
WOS IDWOS:000442709900019
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/21864
Collection模式识别国家重点实验室_机器人视觉
Corresponding AuthorGao, Wei
Affiliation1.Chinese Acad Sci, Inst Automat, Natl Lab Pattern Recognit, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China
First Author AffilicationChinese Acad Sci, Inst Automat, Natl Lab Pattern Recognit, Beijing 100190, Peoples R China
Corresponding Author AffilicationChinese Acad Sci, Inst Automat, Natl Lab Pattern Recognit, Beijing 100190, Peoples R China
Recommended Citation
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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