17,828 research outputs found
Dense Piecewise Planar RGB-D SLAM for Indoor Environments
The paper exploits weak Manhattan constraints to parse the structure of
indoor environments from RGB-D video sequences in an online setting. We extend
the previous approach for single view parsing of indoor scenes to video
sequences and formulate the problem of recovering the floor plan of the
environment as an optimal labeling problem solved using dynamic programming.
The temporal continuity is enforced in a recursive setting, where labeling from
previous frames is used as a prior term in the objective function. In addition
to recovery of piecewise planar weak Manhattan structure of the extended
environment, the orthogonality constraints are also exploited by visual
odometry and pose graph optimization. This yields reliable estimates in the
presence of large motions and absence of distinctive features to track. We
evaluate our method on several challenging indoors sequences demonstrating
accurate SLAM and dense mapping of low texture environments. On existing TUM
benchmark we achieve competitive results with the alternative approaches which
fail in our environments.Comment: International Conference on Intelligent Robots and Systems (IROS)
201
RadarSLAM: Radar based Large-Scale SLAM in All Weathers
Numerous Simultaneous Localization and Mapping (SLAM) algorithms have been
presented in last decade using different sensor modalities. However, robust
SLAM in extreme weather conditions is still an open research problem. In this
paper, RadarSLAM, a full radar based graph SLAM system, is proposed for
reliable localization and mapping in large-scale environments. It is composed
of pose tracking, local mapping, loop closure detection and pose graph
optimization, enhanced by novel feature matching and probabilistic point cloud
generation on radar images. Extensive experiments are conducted on a public
radar dataset and several self-collected radar sequences, demonstrating the
state-of-the-art reliability and localization accuracy in various adverse
weather conditions, such as dark night, dense fog and heavy snowfall
Automatic Structural Scene Digitalization
In this paper, we present an automatic system for the analysis and labeling
of structural scenes, floor plan drawings in Computer-aided Design (CAD)
format. The proposed system applies a fusion strategy to detect and recognize
various components of CAD floor plans, such as walls, doors, windows and other
ambiguous assets. Technically, a general rule-based filter parsing method is
fist adopted to extract effective information from the original floor plan.
Then, an image-processing based recovery method is employed to correct
information extracted in the first step. Our proposed method is fully automatic
and real-time. Such analysis system provides high accuracy and is also
evaluated on a public website that, on average, archives more than ten
thousands effective uses per day and reaches a relatively high satisfaction
rate.Comment: paper submitted to PloS On
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