トモグラフィック特徴を用いた効率的かつ分散的な大規模3D地図統合
Efficient and Distributed Large-Scale 3D Map Registration using Tomographic Features
重力整列済みの局所地図を水平断面で2D投影し、そのトモグラフィック特徴を高さ方向に照合することで、4自由度の位置合わせを省メモリ・並列可能に推定する3D地図統合手法を提案した。
著者: Halil Utku Unlu, Anthony Tzes, Prashanth Krishnamurthy, Farshad Khorrami
分類: cs.RO, cs.CV
原文アブストラクト
A robust, resource-efficient, distributed, and minimally parameterized 3D map matching and merging algorithm is proposed. The suggested algorithm utilizes tomographic features from 2D projections of horizontal cross-sections of gravity-aligned local maps, and matches these projection slices at all possible height differences, enabling the estimation of four degrees of freedom in an efficient and parallelizable manner. The advocated algorithm improves state-of-the-art feature extraction and registration pipelines by an order of magnitude in memory use and execution time. Experimental studies are offered to investigate the efficiency of this 3D map merging scheme.
