Spherical-Model-Based SLAM on Full-View Images for Indoor Environments

As we know, SLAM (Simultaneous Localization and Mapping) relies on surroundings. A full-view image provides more benefits to SLAM than a limited-view image. In this paper, we present a spherical-model-based SLAM on full-view images for indoor environments. Unlike traditional limited-view images, the...

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Main Authors: Jianfeng Li, Xiaowei Wang, Shigang Li
Format: Article
Language:English
Published: MDPI AG 2018-11-01
Series:Applied Sciences
Subjects:
Online Access:https://www.mdpi.com/2076-3417/8/11/2268
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author Jianfeng Li
Xiaowei Wang
Shigang Li
author_facet Jianfeng Li
Xiaowei Wang
Shigang Li
author_sort Jianfeng Li
collection DOAJ
description As we know, SLAM (Simultaneous Localization and Mapping) relies on surroundings. A full-view image provides more benefits to SLAM than a limited-view image. In this paper, we present a spherical-model-based SLAM on full-view images for indoor environments. Unlike traditional limited-view images, the full-view image has its own specific imaging principle (which is nonlinear), and is accompanied by distortions. Thus, specific techniques are needed for processing a full-view image. In the proposed method, we first use a spherical model to express the full-view image. Then, the algorithms are implemented based on the spherical model, including feature points extraction, feature points matching, 2D-3D connection, and projection and back-projection of scene points. Thanks to the full field of view, the experiments show that the proposed method effectively handles sparse-feature or partially non-feature environments, and also achieves high accuracy in localization and mapping. An experiment is conducted to prove that the accuracy is affected by the view field.
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spelling doaj.art-17a8b59c12e7418682b87642887921a02022-12-22T01:13:16ZengMDPI AGApplied Sciences2076-34172018-11-01811226810.3390/app8112268app8112268Spherical-Model-Based SLAM on Full-View Images for Indoor EnvironmentsJianfeng Li0Xiaowei Wang1Shigang Li2School of Electronic and Information Engineering, also with the Key Laboratory of Non-linear Circuit and Intelligent Information Processing, Southwest University, Chongqing 400715, ChinaGraduate School of Information Sciences, Hiroshima City University, Hiroshima 7313194, JapanSchool of Electronic and Information Engineering, also with the Key Laboratory of Non-linear Circuit and Intelligent Information Processing, Southwest University, Chongqing 400715, ChinaAs we know, SLAM (Simultaneous Localization and Mapping) relies on surroundings. A full-view image provides more benefits to SLAM than a limited-view image. In this paper, we present a spherical-model-based SLAM on full-view images for indoor environments. Unlike traditional limited-view images, the full-view image has its own specific imaging principle (which is nonlinear), and is accompanied by distortions. Thus, specific techniques are needed for processing a full-view image. In the proposed method, we first use a spherical model to express the full-view image. Then, the algorithms are implemented based on the spherical model, including feature points extraction, feature points matching, 2D-3D connection, and projection and back-projection of scene points. Thanks to the full field of view, the experiments show that the proposed method effectively handles sparse-feature or partially non-feature environments, and also achieves high accuracy in localization and mapping. An experiment is conducted to prove that the accuracy is affected by the view field.https://www.mdpi.com/2076-3417/8/11/2268full-view imagespherical modelSLAM
spellingShingle Jianfeng Li
Xiaowei Wang
Shigang Li
Spherical-Model-Based SLAM on Full-View Images for Indoor Environments
Applied Sciences
full-view image
spherical model
SLAM
title Spherical-Model-Based SLAM on Full-View Images for Indoor Environments
title_full Spherical-Model-Based SLAM on Full-View Images for Indoor Environments
title_fullStr Spherical-Model-Based SLAM on Full-View Images for Indoor Environments
title_full_unstemmed Spherical-Model-Based SLAM on Full-View Images for Indoor Environments
title_short Spherical-Model-Based SLAM on Full-View Images for Indoor Environments
title_sort spherical model based slam on full view images for indoor environments
topic full-view image
spherical model
SLAM
url https://www.mdpi.com/2076-3417/8/11/2268
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AT xiaoweiwang sphericalmodelbasedslamonfullviewimagesforindoorenvironments
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