Line-based SLAM considering directional distribution of line features in an urban environment

Kei Uehara, Hideo Saito, Kosuke Hara

研究成果: Conference contribution

4 被引用数 (Scopus)

抄録

In this paper, we propose a line-based SLAM from an image sequence captured by a vehicle in consideration with the directional distribution of line features that detected in an urban environments. The proposed SLAM is based on line segments detected from objects in an urban environment, for example, road markings and buildings, that are too conspicuous to be detected. We use additional constraints regarding the line segments so that we can improve the accuracy of the SLAM.We assume that the angle of the vector of the line segments to the vehicle's direction of travel conform to four-component Gaussian mixture distribution. We define a new cost function considering the distribution and optimize the relative camera pose, position, and the 3D line segments by bundle adjustment. In addition, we make digital maps from the detected line segments. Our method increases the accuracy of localization and revises tilted lines in the digital maps. We implement our method to both the single-camera system and the multi-camera system. The accuracy of SLAM, which uses a single-camera system with our constraint, works just as well as a method that uses a multi-camera system without our constraint.

本文言語English
ホスト出版物のタイトルVISAPP
編集者Francisco Imai, Alain Tremeau, Jose Braz
出版社SciTePress
ページ255-264
ページ数10
ISBN(電子版)9789897582271
DOI
出版ステータスPublished - 2017
イベント12th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications, VISIGRAPP 2017 - Porto, Portugal
継続期間: 2017 2月 272017 3月 1

出版物シリーズ

名前VISIGRAPP 2017 - Proceedings of the 12th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications
6

Other

Other12th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications, VISIGRAPP 2017
国/地域Portugal
CityPorto
Period17/2/2717/3/1

ASJC Scopus subject areas

  • コンピュータ グラフィックスおよびコンピュータ支援設計
  • コンピュータ ビジョンおよびパターン認識
  • 人工知能

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