Planar building facade segmentation and mapping using appearance and geometric constraints
文献类型：会议论文
| 作者 | Lee Joseph; Lu Yan; Song Dezhen |
| 出版日期 | 2014 |
| 会议名称 | 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 |
| 会议地点 | Chicago, IL, United states |
| 英文摘要 | Segmentation and mapping of planar building facades (PBFs) can increase a robot's ability of scene understanding and localization in urban environments which are often quasi-rectilinear and GPS-challenged. PBFs are basic components of the quasi-rectilinear environment. We propose a passive vision-based PBF segmentation and mapping algorithm by combining both appearance and geometric constraints. We propose a rectilinear index which allows us to segment out planar regions using appearance data. Then we combine geometric constraints such as reprojection errors, orientation constraints, and coplanarity constraints in an optimization process to improve the mapping of PBFs. We have implemented the algorithm and tested it in comparison with state-of-the-art. The results show that our method can reduce the angular error of scene structure by an average of 82.82%. |
| 收录类别 | EI |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/6217]  |
| 专题 | 深圳先进技术研究院_其他 |
| 作者单位 | 2014 |
| 推荐引用方式 GB/T 7714 | Lee Joseph,Lu Yan,Song Dezhen. Planar building facade segmentation and mapping using appearance and geometric constraints[C]. 见:2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014. Chicago, IL, United states. |
入库方式： OAI收割
来源：深圳先进技术研究院
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。