RGB-D SLAM Based on Extended Bundle Adjustment with 2D and 3D Information
文献类型：期刊论文
| 作者 | Di, Kaichang1; Zhao, Qiang1; Wan, Wenhui1; Wang, Yexin1; Gao, Yunjun1 |
| 刊名 | SENSORS
 |
| 出版日期 | 2016 |
| 卷号 | 16期号:8 |
| 关键词 | MANAGEMENT POLLUTION SOUND |
| 通讯作者 | Wan, WH (reprint author), Chinese Acad Sci, Inst Remote Sensing & Digital Earth, State Key Lab Remote Sensing Sci, 20A Datun Rd, Beijing 100101, Peoples R China. |
| 英文摘要 | In the study of SLAM problem using an RGB-D camera, depth information and visual information as two types of primary measurement data are rarely tightly coupled during refinement of camera pose estimation. In this paper, a new method of RGB-D camera SLAM is proposed based on extended bundle adjustment with integrated 2D and 3D information on the basis of a new projection model. First, the geometric relationship between the image plane coordinates and the depth values is constructed through RGB-D camera calibration. Then, 2D and 3D feature points are automatically extracted and matched between consecutive frames to build a continuous image network. Finally, extended bundle adjustment based on the new projection model, which takes both image and depth measurements into consideration, is applied to the image network for high-precision pose estimation. Field experiments show that the proposed method has a notably better performance than the traditional method, and the experimental results demonstrate the effectiveness of the proposed method in improving localization accuracy. |
| 学科主题 | Chemistry; Electrochemistry; Instruments & Instrumentation |
| 类目[WOS] | Chemistry, Analytical ; Electrochemistry ; Instruments & Instrumentation |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000382323200025 |
| 源URL | [http://ir.radi.ac.cn/handle/183411/39298]  |
| 专题 | 遥感与数字地球研究所_SCI/EI期刊论文_期刊论文 |
| 作者单位 | 1.Chinese Acad Sci, Inst Remote Sensing & Digital Earth, State Key Lab Remote Sensing Sci, 20A Datun Rd, Beijing 100101, Peoples R China 2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China |
| 推荐引用方式 GB/T 7714 | Di, Kaichang,Zhao, Qiang,Wan, Wenhui,et al. RGB-D SLAM Based on Extended Bundle Adjustment with 2D and 3D Information[J]. SENSORS,2016,16(8). |
| APA | Di, Kaichang,Zhao, Qiang,Wan, Wenhui,Wang, Yexin,&Gao, Yunjun.(2016).RGB-D SLAM Based on Extended Bundle Adjustment with 2D and 3D Information.SENSORS,16(8). |
| MLA | Di, Kaichang,et al."RGB-D SLAM Based on Extended Bundle Adjustment with 2D and 3D Information".SENSORS 16.8(2016). |
入库方式： OAI收割
来源：遥感与数字地球研究所
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