Algorithm for the Design of a Three-Dimensional Map of the Environment with a Depth Camera

—A new algorithm for a three-dimensional reconstruction of the surrounding environment is proposed. The algorithm is able to create accurate three-dimensional maps in real-time with the help of a RGB-D depth camera. This algorithm can be used in autonomous mobile robotics, where the robot needs to l...

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Bibliographic Details
Published in:Journal of communications technology & electronics 2020-06, Vol.65 (6), p.690-697
Main Authors: Ortiz-Gonzalez, A., Kober, V. I., Karnaukhov, V. N., Mozerov, M. G.
Format: Article
Language:English
Subjects:
Algorithms
Analysis
Cameras
Communications Engineering
Engineering
Global positioning systems
GPS
Iterative methods
Mathematical Models and Computational Methods
Networks
Reconstruction
Reference systems
Robotics
Robots
Three dimensional models
Unknown environments
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Summary:—A new algorithm for a three-dimensional reconstruction of the surrounding environment is proposed. The algorithm is able to create accurate three-dimensional maps in real-time with the help of a RGB-D depth camera. This algorithm can be used in autonomous mobile robotics, where the robot needs to localize itself in unknown environments by processing onboard sensors without external reference systems such as a global positioning system. We analyze various combinations of common detectors and descriptors of visual features in terms of their recognition efficiency. To match the point clouds between consecutive frames, the iterative closest point (ICP) method is used. To improve the quality of the three-dimensional reconstruction, an adaptive approach to calculating the estimate of the camera position is suggested. The proposed system is able to efficiently process complex scenes at a high rate, and its performance on available benchmark databases is comparable with that of the state-of-the-art systems.
ISSN:1064-2269
1555-6557
DOI:10.1134/S1064226920060224