3D Mapping of Indoor Parking Space Using Edge Consistency Census Transform Stereo Odometry

Junesuk Lee, Soon-Yong Park

2023

Abstract

In this paper, we propose a real-time 3D mapping system for indoor parking ramps and spaces. Visual odometry is calculated by applying the proposed Edge Consistency Census Transform (ECCT) stereo matching method. ECCT works strongly in repeated patterns and reduces drift errors in the vertical direction of the ground caused by Kanade-Lucas-Tomasi stereo matching of VINS-FUSION algorithm. We propose a mobile mapping system that uses a stereo camera and 2D lidar for data set acquisition. The parking ramp and spaces dataset are obtained using the mobile mapping system and are reconstructed using the proposed system. The proposed system performs the 3D mapping of the parking ramp and spaces dataset that is obtained using the mobile mapping system. We present the error of the normal vector with respect to the ground of the parking space as a quantitative evaluation for performance comparison with the previous method. Also, we present 3D mapping results as qualitative results.

Paper Citation

in Harvard Style

Lee J. and Park S. (2023). 3D Mapping of Indoor Parking Space Using Edge Consistency Census Transform Stereo Odometry. In Proceedings of the 18th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2023) - Volume 5: VISAPP; ISBN 978-989-758-634-7, SciTePress, pages 1015-1020. DOI: 10.5220/0011789100003417

in Bibtex Style

@conference{visapp23,
author={Junesuk Lee and Soon-Yong Park},
title={3D Mapping of Indoor Parking Space Using Edge Consistency Census Transform Stereo Odometry},
booktitle={Proceedings of the 18th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2023) - Volume 5: VISAPP},
year={2023},
pages={1015-1020},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011789100003417},
isbn={978-989-758-634-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 18th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2023) - Volume 5: VISAPP
TI - 3D Mapping of Indoor Parking Space Using Edge Consistency Census Transform Stereo Odometry
SN - 978-989-758-634-7
AU - Lee J.
AU - Park S.
PY - 2023
SP - 1015
EP - 1020
DO - 10.5220/0011789100003417
PB - SciTePress