Digital 3D models of environments are of great value in many applications, but the algorithms that build them autonomously are computationally expensive and require a considerable amount of time to perform this task. In this work, we present an active simultaneous localisation and mapping system that optimises the pose of the sensor for the 3D reconstruction of an environment, while a 2D Rapidly-Exploring Random Tree algorithm controls the motion of the mobile platform for the ground exploration strategy. Our objective is to obtain a 3D map comparable to that obtained using a complete 3D approach in a time interval of the same order of magnitude of a 2D exploration algorithm. The optimisation is performed using a ray-tracing technique from a set of candidate poses based on an uncertainty octree built during exploration, whose values are calculated according to where they have been viewed from. The system is tested in diverse simulated environments and compared with two different exploration methods from the literature, one based on 2D and another one that considers the complete 3D space. Experiments show that combining our algorithm with a 2D exploration method, the 3D map obtained is comparable in quality to that obtained with a pure 3D exploration procedure, but demanding less time. ; This work was supported in part by the Project ‘‘5R-Red Cervera de Tecnologías Robóticas en Fabricación Inteligente,’’ through the ‘‘Centros Tecnológicos de Excelencia Cervera’’ Program funded by the ‘‘Centre for the Development of Industrial Technology (CDTI),’’ under Contract CER-20211007.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Camera Pose Optimization for 3D Mapping



    Erscheinungsdatum :

    01.02.2023


    Anmerkungen:

    doi:10.1109/ACCESS.2023.3239657



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629




    Stereophotogrammetry Camera Pose Optimization

    Witt, Bryan L. / Wilbanks, J. Justin / Owens, Brian C. et al. | British Library Conference Proceedings | 2021


    Multi-camera head pose estimation

    Muñoz-Salinas, R. / Yeguas-Bolivar, E. / Saffiotti, A. et al. | British Library Online Contents | 2012


    CONTROL AND NAVIGATION SYSTEMS, POSE OPTIMIZATION, MAPPING, AND LOCALIZATION TECHNIQUES

    KARACHALIOS KONSTANTINOS / NIKOLAIDIS DIMITRIOS / DRISCOLL-LIND KEVIN et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    PATTERN-BASED CAMERA POSE ESTIMATION SYSTEM

    AUGHEY JOHN H | Europäisches Patentamt | 2017

    Freier Zugriff

    Pattern-based camera pose estimation system

    AUGHEY JOHN H | Europäisches Patentamt | 2018

    Freier Zugriff