A Unified Representation For Application Of Architectural Constraints In Large-Scale Mapping
2016 IEEE International Conference on Robotics and Automation (ICRA)(2016)
摘要
This paper is about discovering and leveraging architectural constraints in large scale 3D reconstructions using laser. Our contribution is to offer a formulation of the problem which naturally and in a unified way, captures the variety of architectural constraints that can be discovered and applied in urban reconstructions. We focus in particular on the case of survey construction with a push broom laser + VO system. Here visual odometry is combined with vertical 2D scans to create a 3D picture of the environment. A key characteristic here is that the sensors pass/sweep swiftly through the environment such that elements of the scene are seen only briefly by cameras and scanned just once by the laser. These qualities make for a an ill-constrained optimisation problem which is greatly aided if architectural constraints can be discovered and appropriately applied. We demonstrate our approach in an end-to-end implementation which discovers salient architectural constraints and rejects false loop closures before invoking an optimisation to return a 3D model of the workspace. We evaluate the precision of this model by comparison to a ground truth provided by a 3rd party professional survey using high-end (static) 3D laser scanners.
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关键词
architectural constraints,large-scale mapping,large scale 3D reconstructions,urban reconstructions,survey construction,push broom laser,visual odometry,vertical 2D scans,salient architectural constraints,3D laser scanners
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