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Reporter : 鄒嘉恆 Date : 2010/05/04

Towards Geographical Referencing of Monocular SLAM Reconstruction Using 3D City Models: Application to Real-Time Accurate Vision-Based Localization. Reporter : 鄒嘉恆 Date : 2010/05/04. CVPR ‘09. Introduction. Outline. Motivation Coarse SLAM Reconstruction Bundle adjustment

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Reporter : 鄒嘉恆 Date : 2010/05/04

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  1. Towards Geographical Referencing of Monocular SLAM Reconstruction Using 3D City Models: Application to Real-Time Accurate Vision-Based Localization Reporter : 鄒嘉恆 Date : 2010/05/04 CVPR ‘09

  2. Introduction

  3. Outline • Motivation • Coarse SLAM Reconstruction • Bundle adjustment • Experimental results • Application • Conclusion

  4. Motivation • Current SLAM methods are still prone to drift errors, which prevent their use in large-scale applications.

  5. Coarse SLAM Reconstruction

  6. Coarse SLAM Reconstruction

  7. Coarse SLAM Reconstruction • SLAM(Simultaneous localization and mapping)

  8. Coarse SLAM Reconstruction

  9. Coarse SLAM Reconstruction-SLAM reconstruction fragmentation • Use the idea suggested by Lowe in [11] to segment the trajectory. 3D points [11]D. G. Lowe. Three-dimensional object recognition from single two-dimensional images. Artificial Intelligence, 31(3):355–395, 1987.

  10. Coarse SLAM Reconstruction

  11. Coarse SLAM Reconstruction-Non-rigid ICP • Goal： • Point-plane association : • Robust estimation : 3D Model

  12. Coarse SLAM Reconstruction Result

  13. Bundle adjustment

  14. Bundle adjustment • Advantages to use the barycentre of backprojections: • The movement of Qi’ is then directly linked to the displacement of the cameras. • Qi position is not used in the cost function.

  15. Experimental results • Synthetic sequence

  16. Experimental results • Real sequence • 640x480, 1500 meters

  17. Application

  18. Conclusion • Proposed a new approach to correct large-scale SLAM reconstructions. • Proposed AR application shows that the obtained reconstruction precision is sufficient.

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