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A fusion method of 1D laser and vision based on depth estimation for pose estimation and reconstruction

文献类型：期刊论文

作者Zhang, Zhuang1,2; Zhao, Rujin2; Liu, Enhai2; Yan, Kun2; Ma, Yuebo1,2; Xu, Yunze1,2
刊名Robotics and Autonomous Systems
出版日期2019-06-01
卷号116页码:181-191
ISSN号0921-8890
DOI10.1016/j.robot.2019.03.010
文献子类期刊论文
英文摘要This paper presents a method that fuses a 1D laser range finder and monocular camera to restore unknown 3D structure and 6 degree-of-freedom camera poses. This method can overcome a known deficiency of the absolute scale of monocular cameras and avoid the baseline limitation of stereo vision to obtain a more robust result. The theoretical logic of the fusion of the two sensors is analyzed in detail, and the effectiveness of our method is demonstrated by simulation and experiments. The influential factors related to the measurement and reconstruction accuracy are analyzed through simulation, and the validity of the proposed method is verified by comparing the monocular and RGBD methods on open datasets and observational experiments. © 2019 Elsevier B.V.
WOS关键词AUTONOMOUS ROBOTIC CAPTURE ; ACCURATE
WOS研究方向Automation & Control Systems ; Computer Science, Artificial Intelligence ; Robotics
语种英语
WOS记录号WOS:000466820600013
出版者Elsevier B.V.
源URL[http://ir.ioe.ac.cn/handle/181551/9796]  
专题空天部
作者单位1.University of Chinese Academy of Sciences, Beijing; 100149, China
2.Institute of Optics and Electronics of Chinese Academy of Sciences, Chengdu; 610209, China;
推荐引用方式
GB/T 7714		 Zhang, Zhuang,Zhao, Rujin,Liu, Enhai,et al. A fusion method of 1D laser and vision based on depth estimation for pose estimation and reconstruction[J]. Robotics and Autonomous Systems,2019,116:181-191.
APA Zhang, Zhuang,Zhao, Rujin,Liu, Enhai,Yan, Kun,Ma, Yuebo,&Xu, Yunze.(2019).A fusion method of 1D laser and vision based on depth estimation for pose estimation and reconstruction.Robotics and Autonomous Systems,116,181-191.
MLA Zhang, Zhuang,et al."A fusion method of 1D laser and vision based on depth estimation for pose estimation and reconstruction".Robotics and Autonomous Systems 116(2019):181-191.

入库方式： OAI收割

来源：光电技术研究所

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