loading
Papers

Research.Publish.Connect.

Paper

Authors: Kei Uehara 1 ; Hideo Saito 1 and Kosuke Hara 2

Affiliations: 1 Keio University, Japan ; 2 Denso IT Laboratory, Japan

ISBN: 978-989-758-227-1

Keyword(s): Line-based SLAM, Manhattan World Assumption, Road Markings, Gaussian Distribution.

Related Ontology Subjects/Areas/Topics: Computer Vision, Visualization and Computer Graphics ; Motion, Tracking and Stereo Vision ; Stereo Vision and Structure from Motion

Abstract: 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. (More)

PDF ImageFull Text

Download
CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 18.206.194.210

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Uehara, K.; Saito, H. and Hara, K. (2017). Line-based SLAM Considering Directional Distribution of Line Features in an Urban Environment.In Proceedings of the 12th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 6 VISAPP: VISAPP, (VISIGRAPP 2017) ISBN 978-989-758-227-1, pages 255-264. DOI: 10.5220/0006149302550264

@conference{visapp17,
author={Kei Uehara. and Hideo Saito. and Kosuke Hara.},
title={Line-based SLAM Considering Directional Distribution of Line Features in an Urban Environment},
booktitle={Proceedings of the 12th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 6 VISAPP: VISAPP, (VISIGRAPP 2017)},
year={2017},
pages={255-264},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006149302550264},
isbn={978-989-758-227-1},
}

TY - CONF

JO - Proceedings of the 12th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 6 VISAPP: VISAPP, (VISIGRAPP 2017)
TI - Line-based SLAM Considering Directional Distribution of Line Features in an Urban Environment
SN - 978-989-758-227-1
AU - Uehara, K.
AU - Saito, H.
AU - Hara, K.
PY - 2017
SP - 255
EP - 264
DO - 10.5220/0006149302550264

Login or register to post comments.

Comments on this Paper: Be the first to review this paper.