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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MDPI AG
2018-11-01
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Series: | Applied Sciences |
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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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format | Article |
id | doaj.art-17a8b59c12e7418682b87642887921a0 |
institution | Directory Open Access Journal |
issn | 2076-3417 |
language | English |
last_indexed | 2024-12-11T09:21:07Z |
publishDate | 2018-11-01 |
publisher | MDPI AG |
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series | Applied Sciences |
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 |
work_keys_str_mv | AT jianfengli sphericalmodelbasedslamonfullviewimagesforindoorenvironments AT xiaoweiwang sphericalmodelbasedslamonfullviewimagesforindoorenvironments AT shigangli sphericalmodelbasedslamonfullviewimagesforindoorenvironments |