Dense Mapping From an Accurate Tracking SLAM
文献类型：期刊论文
| 作者 | Weijie Huang; Guoshan Zhang; Xiaowei Han |
| 刊名 | IEEE/CAA Journal of Automatica Sinica
 |
| 出版日期 | 2020 |
| 卷号 | 7期号:6页码:1565-1574 |
| 关键词 | Adaptive weights data association dense mapping hash table simultaneous localization and mapping (SLAM) |
| ISSN号 | 2329-9266 |
| DOI | 10.1109/JAS.2020.1003357 |
| 英文摘要 | In recent years, reconstructing a sparse map from a simultaneous localization and mapping (SLAM) system on a conventional CPU has undergone remarkable progress. However, obtaining a dense map from the system often requires a high-performance GPU to accelerate computation. This paper proposes a dense mapping approach which can remove outliers and obtain a clean 3D model using a CPU in real-time. The dense mapping approach processes keyframes and establishes data association by using multi-threading technology. The outliers are removed by changing detections of associated vertices between keyframes. The implicit surface data of inliers is represented by a truncated signed distance function and fused with an adaptive weight. A global hash table and a local hash table are used to store and retrieve surface data for data-reuse. Experiment results show that the proposed approach can precisely remove the outliers in scene and obtain a dense 3D map with a better visual effect in real-time. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/43057]  |
| 专题 | 自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica |
| 推荐引用方式 GB/T 7714 | Weijie Huang,Guoshan Zhang,Xiaowei Han. Dense Mapping From an Accurate Tracking SLAM[J]. IEEE/CAA Journal of Automatica Sinica,2020,7(6):1565-1574. |
| APA | Weijie Huang,Guoshan Zhang,&Xiaowei Han.(2020).Dense Mapping From an Accurate Tracking SLAM.IEEE/CAA Journal of Automatica Sinica,7(6),1565-1574. |
| MLA | Weijie Huang,et al."Dense Mapping From an Accurate Tracking SLAM".IEEE/CAA Journal of Automatica Sinica 7.6(2020):1565-1574. |
入库方式： OAI收割
来源：自动化研究所
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