In this study, we focused on image features in point cloud data to improve robustness of simultaneous localization and mapping (SLAM) for indoor mapping. We also focused on 3D area scanner to acquire point cloud data with reflection intensity images for image feature-based SLAM. Our methodology consists of five steps. First, point cloud data are acquired using a time-of-flight (TOF) camera from continuous viewpoints. Second, intensity images are generated from point cloud data. Third, the feature points are estimated from reflection intensity images with feature descriptors. Fourth, camera rotation matrices are estimated using corresponded feature points in intensity images. Finally, acquired point cloud data are registered using the estimated rotation matrices. We clarified that our methodology can integrate point cloud data successfully through our experiments in indoor environments.
|出版ステータス||Published - 2017|
|イベント||38th Asian Conference on Remote Sensing - Space Applications: Touching Human Lives, ACRS 2017 - New Delhi, India|
継続期間: 2017 10 23 → 2017 10 27
|Other||38th Asian Conference on Remote Sensing - Space Applications: Touching Human Lives, ACRS 2017|
|Period||17/10/23 → 17/10/27|
ASJC Scopus subject areas
- コンピュータ ネットワークおよび通信