Real-time SLAM Using New Line Descriptor (LEHF)(<Special issue>Real World Imaging)
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- Hirose Keisuke
- Keio University
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- Saito Hideo
- Keio University
Bibliographic Information
- Other Title
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- 線分記述子(LEHF)を用いた実時間SLAM(<特集>実世界イメージング)
- 線分記述子(LEHF)を用いた実時間SLAM
- センブン キジュツコ(LEHF)オ モチイタ ミノル ジカン SLAM
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Abstract
Simultaneous localization and mapping (SLAM) is a technique to simultaneously performs mapping of environments and localization of a camera in real-time. Most existing monocular vision based SLAM techniques use point features as landmarks. However, the use of line segments as landmarks has some advantages. We propose a novel method for a real-time SLAM system that uses line segments as landmarks and computes a Line-based Eight-directional Histogram Feature (LEHF), which is our new line descriptor, to achieve correct matching. LEHF is a fast and efficient way of describing features of line segments, which are detected by the line segment detector (LSD) method. The line-based orthogonal iteration (LBOI) method takes the confidence of each 3D line segment into consideration in order to estimate a camera pose from 2D-3D correspondences made by line descriptor matching. The RANSAC algorithm is applied for 2D-3D correspondences to estimate the correct camera pose. We conducted an experiment in order to test our SLAM system in a desktop environment and to perform augmented reality (AR). Mapped 3D line segments were also evaluated in a planar scene.
Journal
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- Transactions of the Virtual Reality Society of Japan
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Transactions of the Virtual Reality Society of Japan 17 (3), 201-208, 2012
THE VIRTUAL REALITY SOCIETY OF JAPAN
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Details 詳細情報について
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- CRID
- 1390001204463117440
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- NII Article ID
- 110009517475
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- NII Book ID
- AA11448578
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- ISSN
- 24239593
- 1344011X
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- NDL BIB ID
- 024025493
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- CiNii Articles
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- Abstract License Flag
- Disallowed