Dense RGB-D SLAM with Multiple Cameras
文献类型：期刊论文
| 作者 | Meng, Xinrui1,2 ; Gao, Wei1,2; Hu, Zhanyi1,2
|
| 刊名 | SENSORS
 |
| 出版日期 | 2018-07-01 |
| 卷号 | 18期号:7 |
| 关键词 | Multi-camera Slam Calibration Rgb-d |
| DOI | 10.3390/s18072118 |
| 文献子类 | Article |
| 英文摘要 | A multi-camera dense RGB-D SLAM (simultaneous localization and mapping) system has the potential both to speed up scene reconstruction and to improve localization accuracy, thanks to multiple mounted sensors and an enlarged effective field of view. To effectively tap the potential of the system, two issues must be understood: first, how to calibrate the system where sensors usually shares small or no common field of view to maximally increase the effective field of view; second, how to fuse the location information from different sensors. In this work, a three-Kinect system is reported. For system calibration, two kinds of calibration methods are proposed, one is suitable for system with inertial measurement unit (IMU) using an improved hand eye calibration method, the other for pure visual SLAM without any other auxiliary sensors. In the RGB-D SLAM stage, we extend and improve a state-of-art single RGB-D SLAM method to multi-camera system. We track the multiple cameras' poses independently and select the one with the pose minimal-error as the reference pose at each moment to correct other cameras' poses. To optimize the initial estimated pose, we improve the deformation graph by adding an attribute of device number to distinguish surfels built by different cameras and do deformations according to the device number. We verify the accuracy of our extrinsic calibration methods in the experiment section and show the satisfactory reconstructed models by our multi-camera dense RGB-D SLAM. The RMSE (root-mean-square error) of the lengths measured in our reconstructed mode is 1.55 cm (similar to the state-of-art single camera RGB-D SLAM systems). |
| WOS关键词 | CALIBRATION |
| WOS研究方向 | Chemistry ; Electrochemistry ; Instruments & Instrumentation |
| 语种 | 英语 |
| WOS记录号 | WOS:000441334300140 |
| 资助机构 | National Key R&D Program of China(2016YFB0502002) ; National Natural Science Foundation of China (NSFC)(61333015 ; 61472419 ; 61421004) |
| 源URL | [http://ir.ia.ac.cn/handle/173211/21824]  |
| 专题 | 自动化研究所_模式识别国家重点实验室_机器人视觉团队 |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, NLPR, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China |
| 推荐引用方式 GB/T 7714 | Meng, Xinrui,Gao, Wei,Hu, Zhanyi. Dense RGB-D SLAM with Multiple Cameras[J]. SENSORS,2018,18(7). |
| APA | Meng, Xinrui,Gao, Wei,&Hu, Zhanyi.(2018).Dense RGB-D SLAM with Multiple Cameras.SENSORS,18(7). |
| MLA | Meng, Xinrui,et al."Dense RGB-D SLAM with Multiple Cameras".SENSORS 18.7(2018). |
入库方式： OAI收割
来源：自动化研究所
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