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Efficient RGB-D data processing for feature-based self-localization of mobile robots

100%

Kraft M., Nowicki M., Penne R., Schmidt A., Skrzypczyński P.

International Journal of Applied Mathematics and Computer Science

2016

tom 26

nr 1

63-79

The problem of position and orientation estimation for an active vision sensor that moves with respect to the full six degrees of freedom is considered. The proposed approach is based on point features extracted from RGB-D data. This work focuses on efficient point feature extraction algorithms and on methods for the management of a set of features in a single RGB-D data frame. While the fast, RGB-D-based visual odometry system described in this paper builds upon our previous results as to the general architecture, the important novel elements introduced here are aimed at improving the precision and robustness of the motion estimate computed from the matching point features of two RGB-D frames. Moreover, we demonstrate that the visual odometry system can serve as the front-end for a pose-based simultaneous localization and mapping solution. The proposed solutions are tested on publicly available data sets to ensure that the results are scientifically verifiable. The experimental results demonstrate gains due to the improved feature extraction and management mechanisms, whereas the performance of the whole navigation system compares favorably to results known from the literature.

Efficient generation of 3D surfel maps using RGB-D sensors

100%

Wilkowski A., Kornuta T., Stefańczyk M., Kasprzak W.

International Journal of Applied Mathematics and Computer Science

2016

tom 26

nr 1

99-122

The article focuses on the problem of building dense 3D occupancy maps using commercial RGB-D sensors and the SLAM approach. In particular, it addresses the problem of 3D map representations, which must be able both to store millions of points and to offer efficient update mechanisms. The proposed solution consists of two such key elements, visual odometry and surfel-based mapping, but it contains substantial improvements: storing the surfel maps in octree form and utilizing a frustum culling-based method to accelerate the map update step. The performed experiments verify the usefulness and efficiency of the developed system.

Ograniczanie wyników

2 International Journal of Applied Mathematics and Computer Science

1 Kasprzak W.

1 Kornuta T.

1 Kraft M.

1 Nowicki M.

1 Penne R.

1 Schmidt A.

1 Skrzypczyński P.

1 Stefańczyk M.

1 Wilkowski A.

2 2016

Wyniki wyszukiwania

Efficient RGB-D data processing for feature-based self-localization of mobile robots

Efficient generation of 3D surfel maps using RGB-D sensors