Real-time 3D scene reconstruction and localization with surface optimization

A real-time 3D scene reconstruction and localization system with surface optimization is proposed. The dense 3D point cloud model is created by utilizing rotation and orientation invariant feature matching along with loop-closure detection algorithm on RGB-D images in a mobile robot. The high resolu...

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Bibliographic Details
Main Authors: Liu, Ruixu, Peng, Tao, K.Asari, Vijayan, Loomis, John S.
Format: Conference Proceeding
Language:English
Subjects:
Computational modeling
Graphics processing units
Real-time systems
Robot vision systems
Surface reconstruction
Three-dimensional displays
Trajectory
Online Access:Request full text
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Description
Summary:A real-time 3D scene reconstruction and localization system with surface optimization is proposed. The dense 3D point cloud model is created by utilizing rotation and orientation invariant feature matching along with loop-closure detection algorithm on RGB-D images in a mobile robot. The high resolution and smooth mesh model is implemented on a GPU based computer through wireless communication.
ISSN:2379-2027
DOI:10.1109/NAECON.2018.8556661