Dense Mapping From an Accurate Tracking SLAM

doi:10.1109/JAS.2020.1003357

CORC > 自动化研究所 > 中国科学院自动化研究所 > 学术期刊 > IEEE/CAA Journal of Automatica Sinica

	Dense Mapping From an Accurate Tracking SLAM
	Weijie Huang; Guoshan Zhang; Xiaowei Han
刊名	IEEE/CAA Journal of Automatica Sinica
	2020
卷号	7 期号:6 页码:1565-1574
关键词	Adaptive weights data association dense mapping hash table simultaneous localization and mapping (SLAM)
ISSN号	2329-9266
DOI	10.1109/JAS.2020.1003357
英文摘要	In recent years, reconstructing a sparse map from a simultaneous localization and mapping (SLAM) system on a conventional CPU has undergone remarkable progress. However, obtaining a dense map from the system often requires a high-performance GPU to accelerate computation. This paper proposes a dense mapping approach which can remove outliers and obtain a clean 3D model using a CPU in real-time. The dense mapping approach processes keyframes and establishes data association by using multi-threading technology. The outliers are removed by changing detections of associated vertices between keyframes. The implicit surface data of inliers is represented by a truncated signed distance function and fused with an adaptive weight. A global hash table and a local hash table are used to store and retrieve surface data for data-reuse. Experiment results show that the proposed approach can precisely remove the outliers in scene and obtain a dense 3D map with a better visual effect in real-time.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/43057]
专题	自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Weijie Huang,Guoshan Zhang,Xiaowei Han. Dense Mapping From an Accurate Tracking SLAM[J]. IEEE/CAA Journal of Automatica Sinica,2020,7(6):1565-1574.
APA	Weijie Huang,Guoshan Zhang,&Xiaowei Han.(2020).Dense Mapping From an Accurate Tracking SLAM.IEEE/CAA Journal of Automatica Sinica,7(6),1565-1574.
MLA	Weijie Huang,et al."Dense Mapping From an Accurate Tracking SLAM".IEEE/CAA Journal of Automatica Sinica 7.6(2020):1565-1574.