scholarly journals Augmenting ViSP’s 3D Model-Based Tracker with RGB-D SLAM for 3D Pose Estimation in Indoor Environments

2016 ◽  
Vol XLI-B1 ◽  
pp. 925-932 ◽  
Author(s):  
J. Li-Chee-Ming ◽  
C. Armenakis
Keyword(s):  
Pose Estimation ◽  
Visual Servoing ◽  
3D Model ◽  
Field Of View ◽  
Indoor Environments ◽  
Camera Motion ◽  
3D Pose Estimation ◽  
Building Models ◽  
Outdoor Environments ◽  
Model Features

This paper presents a novel application of the Visual Servoing Platform’s (ViSP) for pose estimation in indoor and GPS-denied outdoor environments. Our proposed solution integrates the trajectory solution from RGBD-SLAM into ViSP’s pose estimation process. Li-Chee-Ming and Armenakis (2015) explored the application of ViSP in mapping large outdoor environments, and tracking larger objects (i.e., building models). Their experiments revealed that tracking was often lost due to a lack of model features in the camera’s field of view, and also because of rapid camera motion. Further, the pose estimate was often biased due to incorrect feature matches. This work proposes a solution to improve ViSP’s pose estimation performance, aiming specifically to reduce the frequency of tracking losses and reduce the biases present in the pose estimate. This paper explores the integration of ViSP with RGB-D SLAM. We discuss the performance of the combined tracker in mapping indoor environments and tracking 3D wireframe indoor building models, and present preliminary results from our experiments.

scholarly journals Augmenting ViSP’s 3D Model-Based Tracker with RGB-D SLAM for 3D Pose Estimation in Indoor Environments

2016 ◽  
Vol XLI-B1 ◽  
pp. 925-932
Author(s):  
J. Li-Chee-Ming ◽  
C. Armenakis
Keyword(s):  
Pose Estimation ◽  
Visual Servoing ◽  
3D Model ◽  
Field Of View ◽  
Indoor Environments ◽  
Camera Motion ◽  
3D Pose Estimation ◽  
Building Models ◽  
Outdoor Environments ◽  
Model Features

This paper presents a novel application of the Visual Servoing Platform’s (ViSP) for pose estimation in indoor and GPS-denied outdoor environments. Our proposed solution integrates the trajectory solution from RGBD-SLAM into ViSP’s pose estimation process. Li-Chee-Ming and Armenakis (2015) explored the application of ViSP in mapping large outdoor environments, and tracking larger objects (i.e., building models). Their experiments revealed that tracking was often lost due to a lack of model features in the camera’s field of view, and also because of rapid camera motion. Further, the pose estimate was often biased due to incorrect feature matches. This work proposes a solution to improve ViSP’s pose estimation performance, aiming specifically to reduce the frequency of tracking losses and reduce the biases present in the pose estimate. This paper explores the integration of ViSP with RGB-D SLAM. We discuss the performance of the combined tracker in mapping indoor environments and tracking 3D wireframe indoor building models, and present preliminary results from our experiments.

scholarly journals A FEASIBILITY STUDY ON USING ViSP’S 3D MODEL-BASED TRACKER FOR UAV POSE ESTIMATION IN OUTDOOR ENVIRONMENTS

2015 ◽  
Vol XL-1/W4 ◽  
pp. 329-335 ◽  
Author(s):  
J. Li-Chee-Ming ◽  
C. Armenakis
Keyword(s):  
Pose Estimation ◽  
Visual Servoing ◽  
3D Model ◽  
Initial Approximation ◽  
Indoor Environments ◽  
Processing Strategies ◽  
Building Models ◽  
Small Uav ◽  
Outdoor Environments ◽  
Camera Position

This paper presents a novel application of the Visual Servoing Platform’s (ViSP) for small UAV pose estimation in outdoor environments. Given an initial approximation for the camera position and orientation, or camera pose, ViSP automatically establishes and continuously tracks corresponding features between an image sequence and a 3D wireframe model of the environment. As ViSP has been demonstrated to perform well in small and cluttered indoor environments, this paper explores the application of ViSP for UAV mapping of outdoor landscapes and tracking of large objects (i.e. building models). Our presented experiments demonstrate the data obtainable by the UAV, assess ViSP’s data processing strategies, and evaluate the performance of the tracker.

scholarly journals Global Appearance Applied to Visual Map Building and Path Estimation Using Multiscale Analysis

2014 ◽  
Vol 2014 ◽  
pp. 1-23 ◽  
Author(s):  
Francisco Amorós ◽  
Luis Payá ◽  
Oscar Reinoso ◽  
Walterio Mayol-Cuevas ◽  
Andrew Calway
Keyword(s):  
Pose Estimation ◽  
Visual Information ◽  
Multiscale Analysis ◽  
Spatial Arrangement ◽  
Field Of View ◽  
Indoor Environments ◽  
Map Building ◽  
Topological Map ◽  
Complete Field ◽  
Estimation System

In this work we present a topological map building and localization system for mobile robots based on global appearance of visual information. We include a comparison and analysis of global-appearance techniques applied to wide-angle scenes in retrieval tasks. Next, we define multiscale analysis, which permits improving the association between images and extracting topological distances. Then, a topological map-building algorithm is proposed. At first, the algorithm has information only of some isolated positions of the navigation area in the form of nodes. Each node is composed of a collection of images that covers the complete field of view from a certain position. The algorithm solves the node retrieval and estimates their spatial arrangement. With these aims, it uses the visual information captured along some routes that cover the navigation area. As a result, the algorithm builds a graph that reflects the distribution and adjacency relations between nodes (map). After the map building, we also propose a route path estimation system. This algorithm takes advantage of the multiscale analysis. The accuracy in the pose estimation is not reduced to the nodes locations but also to intermediate positions between them. The algorithms have been tested using two different databases captured in real indoor environments under dynamic conditions.

3D Pose Estimation Based on Reinforce Learning for 2D Image-based 3D Model Retrieval

2020 ◽  
pp. 1-1 ◽  
Author(s):  
Weizhi Nie ◽  
Wenwu Jia ◽  
Wenhui Li ◽  
Anan Liu ◽  
Sicheng Zhao
Keyword(s):  
Pose Estimation ◽  
3D Model ◽  
3D Model Retrieval ◽  
3D Pose Estimation ◽  
Model Retrieval

Position and Pose Estimation of Camera-Head with Foveated Wide Angle Lens

2003 ◽  
Vol 15 (3) ◽  
pp. 293-303
Author(s):  
Haiquan Yang ◽  
◽  
Nobuyuki Kita ◽  
Yasuyo Kita
Keyword(s):  
Pose Estimation ◽  
3D Model ◽  
Initial Position ◽  
Field Of View ◽  
Wide Field ◽  
Initial Error ◽  
Surrounding Environment ◽  
Wide Field Of View ◽  
Wide Angle Lens ◽  
Position And Pose Estimation

A method is proposed to correct the initial position and pose estimates of a camera-head by aligning a 3D model of its surrounding environment with an observed 2D image that is captured by a foveated wideangle lens in the camera. Because of the wide field of view of the lens, the algorithm can converge even when the initial error is large, and the precision of the result is high since the resolution of the fovea of the lens is high.

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