Knowledge Commons of Institute of Automation,CAS
Complete and Accurate Indoor Scene Capturing and Reconstruction Using a Drone and a Robot | |
Gao, Xiang1; Zhu, Lingjie2,3; Cui, Hainan2,3; Hu, Zhanyi2,3; Liu, Hongmin4; Shen, Shuhan2,3 | |
发表期刊 | IEEE Sensors Journal |
ISSN | 1530-437X |
2021 | |
卷号 | 21期号:10页码:11858-11869 |
摘要 | Completeness and accuracy are two important factors in image-based indoor scene 3D reconstruction. Thus, an efficient image capturing scheme that could completely cover the scene, and a robust reconstruction method that could accurately reconstruct the scene are required. To this end, in this article we propose a new pipeline for indoor scene capturing and reconstruction using a mini drone and a ground robot, which takes both capturing completeness and reconstruction accuracy into consideration. First, we use a mini drone to capture aerial video of the indoor scene, from which a 3D aerial map is reconstructed. Then, the robot moving path is planned and a set of ground-view reference images are synthesized from the aerial map. After that, the robot enters the scene and captures ground video autonomously while using the reference images to locate its position during the movement. Finally, the ground and aerial images, which are adaptively extracted from the captured videos, are merged to reconstruct a complete and accurate indoor scene model. Experimental results on two indoor scenes demonstrate the effectiveness and robustness of our proposed indoor scene capturing and reconstruction pipeline. |
关键词 | Indoor scene capturing and reconstruction Drone-robot cooperation Aerial map construction Ground robot localization Ground-to-aerial image merging |
DOI | 10.1109/JSEN.2020.3024702 |
关键词[WOS] | ENERGY MINIMIZATION ; EFFICIENT ; MOTION |
收录类别 | SCI |
语种 | 英语 |
资助项目 | National Science Foundation of China[61873265] ; National Science Foundation of China[62003319] ; National Science Foundation of China[61632003] ; National Science Foundation of China[61703397] ; Open Projects Program of National Laboratory of Pattern Recognition[202000010] ; Postdoctoral Applied Research Projects of Qingdao |
项目资助者 | National Science Foundation of China ; Open Projects Program of National Laboratory of Pattern Recognition ; Postdoctoral Applied Research Projects of Qingdao |
WOS研究方向 | Engineering ; Instruments & Instrumentation ; Physics |
WOS类目 | Engineering, Electrical & Electronic ; Instruments & Instrumentation ; Physics, Applied |
WOS记录号 | WOS:000642012400062 |
出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
七大方向——子方向分类 | 三维视觉 |
国重实验室规划方向分类 | 环境多维感知 |
是否有论文关联数据集需要存交 | 否 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/44552 |
专题 | 多模态人工智能系统全国重点实验室_机器人视觉 中国科学院工业视觉智能装备工程实验室 |
通讯作者 | Liu, Hongmin; Shen, Shuhan |
作者单位 | 1.Ocean Univ China, Coll Engn, Qingdao 266100, Peoples R China 2.Chinese Acad Sci, Inst Automat, Natl Lab Pattern Recognit, Beijing 100190, Peoples R China 3.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 4.Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing 100083, Peoples R China |
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 | Gao, Xiang,Zhu, Lingjie,Cui, Hainan,et al. Complete and Accurate Indoor Scene Capturing and Reconstruction Using a Drone and a Robot[J]. IEEE Sensors Journal,2021,21(10):11858-11869. |
APA | Gao, Xiang,Zhu, Lingjie,Cui, Hainan,Hu, Zhanyi,Liu, Hongmin,&Shen, Shuhan.(2021).Complete and Accurate Indoor Scene Capturing and Reconstruction Using a Drone and a Robot.IEEE Sensors Journal,21(10),11858-11869. |
MLA | Gao, Xiang,et al."Complete and Accurate Indoor Scene Capturing and Reconstruction Using a Drone and a Robot".IEEE Sensors Journal 21.10(2021):11858-11869. |
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