- Abstract:
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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...
Expand abstract - Publication status:
- Published
- Peer review status:
- Peer reviewed
- Version:
- Accepted manuscript
- Files:
-
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(pdf, 4.2MB)
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- Publisher copy:
- 10.1007/978-3-319-46484-8_30
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- Publisher:
- Springer Publisher's website
- Publication date:
- 2016-09-05
- Acceptance date:
- 2016-07-11
- DOI:
- EISSN:
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1611-3349
- ISSN:
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0302-9743
- Pubs id:
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pubs:652793
- URN:
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uri:23f99400-fe36-4161-b245-9b5bbe3b02d8
- UUID:
-
uuid:23f99400-fe36-4161-b245-9b5bbe3b02d8
- Local pid:
- pubs:652793
- ISBN:
- 9783319464831
- Copyright holder:
- Springer International Publishing
- Copyright date:
- 2016
- Notes:
- © Springer International Publishing AG 2016. This is the accepted manuscript version of the article. The final version is available online from Springer at: http://dx.doi.org/10.1007/978-3-319-46484-8_30
- License:
- CC BY-NC
Conference item
Real-time large-scale dense 3D reconstruction with loop closure
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Huawei Technologies Co.
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