3D line segment based model generation by RGB-D camera for camera pose estimation

Yusuke Nakayama, Hideo Saito, Masayoshi Shimizu, Nobuyasu Yamaguchi

研究成果: Conference contribution

5 引用 (Scopus)

抜粋

In this paper, we propose a novel method for generating 3D line segment based model from an image sequence taken with a RGBD camera. Constructing 3D geometrical representation by 3D model is essential for model based camera pose estimation that can be performed by corresponding 2D features in images with 3D features of the captured scene. While point features are mostly used as such features for conventional camera pose estimation, we aim to use line segment features for improving the performance of the camera pose estimation. In this method, using RGB images and depth images of two continuous frames, 2D line segments from the current frame and 3D line segments from the previous frame are corresponded. The 2D-3D line segment correspondences provide camera pose of the current frame. All of 2D line segments are finally back projected to the world coordinate based on the estimated camera pose for generating 3D line segment based model of the target scene. In experiments, we confirmed that the proposed method can successfully generate line segment based models, while 3D models based on the point features often fail to successfully represent the target scene.

元の言語English
ホスト出版物のタイトルLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
出版者Springer Verlag
ページ459-472
ページ数14
9010
ISBN(印刷物)9783319166339
DOI
出版物ステータスPublished - 2015
イベント12th Asian Conference on Computer Vision, ACCV 2014 - Singapore, Singapore
継続期間: 2014 11 12014 11 2

出版物シリーズ

名前Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
9010
ISSN(印刷物)03029743
ISSN(電子版)16113349

Other

Other12th Asian Conference on Computer Vision, ACCV 2014
Singapore
Singapore
期間14/11/114/11/2

ASJC Scopus subject areas

  • Computer Science(all)
  • Theoretical Computer Science

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  • これを引用

    Nakayama, Y., Saito, H., Shimizu, M., & Yamaguchi, N. (2015). 3D line segment based model generation by RGB-D camera for camera pose estimation. : Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (巻 9010, pp. 459-472). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); 巻数 9010). Springer Verlag. https://doi.org/10.1007/978-3-319-16634-6_34