事前3Dサーフェルマップを用いた単眼直接スパース自己位置推定
Monocular Direct Sparse Localization in a Prior 3D Surfel Map
事前に構築した3Dサーフェルマップから頂点・法線マップを描画し、画像中のスパース追跡点にグローバルな平面情報を与えることで、単眼カメラの6自由度姿勢を絶対スケール付きで高精度に推定する手法を提案した。
著者: Haoyang Ye, Huaiyang Huang, Ming Liu
分類: cs.RO, cs.CV
原文アブストラクト
In this paper, we introduce an approach to tracking the pose of a monocular camera in a prior surfel map. By rendering vertex and normal maps from the prior surfel map, the global planar information for the sparse tracked points in the image frame is obtained. The tracked points with and without the global planar information involve both global and local constraints of frames to the system. Our approach formulates all constraints in the form of direct photometric errors within a local window of the frames. The final optimization utilizes these constraints to provide the accurate estimation of global 6-DoF camera poses with the absolute scale. The extensive simulation and real-world experiments demonstrate that our monocular method can provide accurate camera localization results under various conditions.
