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Loop Closing for Visual Pose Tracking during Close-Range 3-D Modeling

Strobl, Klaus H. (2014) Loop Closing for Visual Pose Tracking during Close-Range 3-D Modeling. In: ISVC 2014, Part I, 8887, pp. 390-401. Springer International Publishing Switzerland. ISVC 2014, 8-10 Dec 2014, Las Vegas, NV, USA. doi: 10.1007/978-3-319-14249-4. ISBN 978-3-319-14248-7. ISSN 0302-9743.

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This work deals with the passive tracking of the pose of a close-range 3-D modeling device using its own high-rate images in realtime, concurrently with customary 3-D modeling of the scene by laser triangulation. Our former works in Refs. [1,2] successfully implemented visual pose tracking. Accuracy being a central requirement to 3-D modeling, however, here we note that accuracy can be further increased using a graph-based nonlinear optimization of the tracked pose by minimization of reprojection errors. Loop closures e.g. when having scanned all around the objects provide the opportunity to increase pose tracking and 3-D modeling accuracy. The sparse optimization is in the form of a hybrid, keyframe-based bundle adjustment algorithm on stereo keyframes, yielding rapid optimization of the whole trajectory and object mesh model within a second. The optimization is supported by the use of appearance-based SURF descriptors together with a bank of parallel three-point-perspective pose solvers.

Item URL in elib:https://elib.dlr.de/93855/
Document Type:Conference or Workshop Item (Speech)
Title:Loop Closing for Visual Pose Tracking during Close-Range 3-D Modeling
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Strobl, Klaus H.klaus.strobl (at) dlr.deUNSPECIFIED
Date:December 2014
Journal or Publication Title:ISVC 2014, Part I
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
DOI :10.1007/978-3-319-14249-4
Page Range:pp. 390-401
EditorsEmailEditor's ORCID iD
Publisher:Springer International Publishing Switzerland
Series Name:Lecture Notes in Computer Science
Keywords:3-d modeling, slam, loop closing
Event Title:ISVC 2014
Event Location:Las Vegas, NV, USA
Event Type:international Conference
Event Dates:8-10 Dec 2014
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Strobl, Klaus
Deposited On:09 Jan 2015 16:46
Last Modified:31 Jul 2019 19:50

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