DPPTAM: Dense piecewise planar tracking and mapping from a monocular sequence

IEEE International Conference on Intelligent Robots and Systems

Volumn 2015-December, Issue , 2015, Pages 5686-5693

  Concha, Alejo ^a   Civera, Javier ^a  

^a UNIVERSITY OF ZARAGOZA   (Spain)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; INDOOR POSITIONING SYSTEMS; MAPPING; VISION;

DIRECT MAPPING; HAND-HELD CAMERAS; MONOCULAR SEQUENCES; MONOCULAR SLAM; PIECE-WISE; REAL TIME; SUPERPIXEL SEGMENTATIONS; TEXTURED IMAGES;

INTELLIGENT ROBOTS;

EID: 84958185077     PISSN: 21530858     EISSN: 21530866     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2015.7354184     Document Type: Conference Paper

References (24)

1. J. Engel, T. Schöps, and D. Cremers, "LSD-SLAM: Large-scale direct monocular slam," in Computer Vision-ECCV 2014. Springer, 2014, pp. 834-849.
2. J. Sturm, N. Engelhard, F. Endres, W. Burgard, and D. Cremers, "A benchmark for the evaluation of rgb-d slam systems," in Proc. of the International Conference on Intelligent Robot Systems (IROS), Oct. 2012.
3. A. Concha and J. Civera, "Using superpixels in monocular SLAM," in IEEE International Conference on Robotics and Automation, Hong Kong, June 2014.
4. S. Shen, N. Michael, and V. Kumar, "Autonomous multi-floor indoor navigation with a computationally constrained MAV," in IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, China, 9-13 May 2011, 2011, pp. 20-25. [Online]. Available: http://dx.doi.org/10.1109/ICRA.2011.5980357
5. C. McManus, W. Churchill, A. Napier, B. Davis, and P. Newman, "Distraction suppression for vision-based pose estimation at city scales," in Robotics and Automation (ICRA), 2013 IEEE International Conference on, 2013, pp. 3762-3769.
6. A. Concha, P. Drews-Jr, M. Campos, and J. Civera, "Real-time dense 3d mapping of underwater environments from monocular images," in MTS/IEEE OCEANS, 2015.
7. R. A. Newcombe, S. J. Lovegrove, and A. J. Davison, "DTAM: Dense tracking and mapping in real-time," in 2011 IEEE International Conference on Computer Vision (ICCV), 2011, pp. 2320-2327.
8. J. Sturm, E. Bylow, F. Kahl, and D. Cremers, "CopyMe3D: Scanning and printing persons in 3D," in German Conference on Pattern Recognition (GCPR), Saarbrücken, Germany, September 2013.
9. A. Concha, W. Hussain, L. Montano, and J. Civera, "Manhattan and piecewise-planar constraints for dense monocular mapping," in Robotics:Science and Systems, 2014.
10. P. F. Felzenszwalb and D. P. Huttenlocher, "Efficient graph-based image segmentation," International Journal of Computer Vision, vol. 59, no. 2, pp. 167-181, 2004.
11. G. Klein and D. Murray, "Parallel tracking and mapping for small AR workspaces," in Sixth IEEE and ACM International Symposium on Mixed and Augmented Reality, 2007.
12. A. J. Davison, N. D. Molton, I. D. Reid, and O. Stasse, "MonoSLAM: Real-time single camera SLAM," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. June, pp. 1052-1067, 2007.
13. C. Forster, M. Pizzoli, and D. Scaramuzza, "SVO: Fast semi-direct monocular visual odometry," in IEEE International Conference on Robotics and Automation (ICRA), 2014.
14. R. Mur and J. D. Tardos, "Probabilistic semi-dense mapping from highly accurate feature-based monocular slam," in Robotics Science and Systems, 2015.
15. J. Stühmer, S. Gumhold, and D. Cremers, "Real-time dense geometry from a handheld camera," in Pattern Recognition. Springer, 2010, pp. 11-20.
16. M. Pizzoli, C. Forster, and D. Scaramuzza, "REMODE: Probabilistic, Monocular Dense Reconstruction in Real Time," in 2014 IEEE International Conference on Robotics and Automation (ICRA 2014), 2014.
17. D. Gallup, J.-M. Frahm, and M. Pollefeys, "Piecewise planar and nonplanar stereo for urban scene reconstruction," in Computer Vision and Pattern Recognition (CVPR), 2010 IEEE Conference on. IEEE, 2010, pp. 1418-1425.
18. A. Argiles, J. Civera, and L. Montesano, "Dense multi-planar scene estimation from a sparse set of images," in Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on. IEEE, 2011, pp. 4448-4454.
19. V. Hedau, D. Hoiem, and D. Forsyth, "Recovering the spatial layout of cluttered rooms," in Computer vision, 2009 IEEE 12th international conference on. IEEE, 2009, pp. 1849-1856.
20. G. Tsai, C. Xu, J. Liu, and B. Kuipers, "Real-time indoor scene understanding using Bayesian filtering with motion cues," in Computer Vision (ICCV), 2011 IEEE International Conference on. IEEE, 2011, pp. 121-128.
21. A. Flint, D. Murray, and I. Reid, "Manhattan scene understanding using monocular, stereo, and 3D features," in 2011 IEEE International Conference on Computer Vision (ICCV), 2011, pp. 2228-2235.
22. S. Baker and I. Matthews, "Lucas-kanade 20 years on: A unifying framework," Int. J. Comput. Vision, vol. 56, no. 3, pp. 221-255, Feb. 2004. [Online]. Available: http://dx.doi.org/10.1023/B: VISI.0000011205.11775.fd
23. G. Vogiatzis and C. Hernndez, "Video-based, real-time multi view stereo," in Image and Vision Computing. Volume 29, Issue 7, June 2011, Pages 434441, 2011.
24. R. Raguram, J. Frahm, and M. Pollefeys, "A Comparative Analysis of RANSAC Techniques Leading to Adaptive Real-Time Random Sample Consensus," in Proceedings of the European Conference on Computer Vision, 2008, pp. 500-513.