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Towards Geographical Referencing of Monocular SLAM Reconstruction Using 3D City Models: Application to Real- Time Accurate Vision-Based Localization Reporter.

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Presentation on theme: "Towards Geographical Referencing of Monocular SLAM Reconstruction Using 3D City Models: Application to Real- Time Accurate Vision-Based Localization Reporter."— Presentation transcript:

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

7 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. [11]D. G. Lowe. Three-dimensional object recognition from single two-dimensional images. Artificial Intelligence, 31(3):355–395, D points

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 Advantages to use the barycentre of backprojections:  The movement of Q i ’ is then directly linked to the displacement of the cameras.  Q i 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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