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Real-time large-scale dense 3D reconstruction with loop closure

Abstract:

In the highly active research field of dense 3D reconstruction and modelling, loop closure is still a largely unsolved problem. While a number of previous works show how to accumulate keyframes, globally optimize their pose on closure, and compute a dense 3D model as a post-processing step, in this paper we propose an online framework which delivers a consistent 3D model to the user in real time. This is achieved by splitting the scene into submaps, and adjusting the poses of the submaps as a...

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Publication status:
Published
Peer review status:
Peer reviewed
Version:
Accepted manuscript

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Publisher copy:
10.1007/978-3-319-46484-8_30

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Department:
Oxford, MPLS, Engineering Science
Role:
Author
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Department:
Oxford, MPLS, Engineering Science
Role:
Author
Huawei Technologies Co. More from this funder
Publisher:
Springer Publisher's website
Publication date:
2016-09-05
Acceptance date:
2016-07-11
DOI:
EISSN:
1611-3349
ISSN:
0302-9743
Pubs id:
pubs:652793
URN:
uri:23f99400-fe36-4161-b245-9b5bbe3b02d8
UUID:
uuid:23f99400-fe36-4161-b245-9b5bbe3b02d8
Local pid:
pubs:652793
ISBN:
9783319464831

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