Augmenting ViSP’s 3D Model-Based Tracker with RGB-D SLAM for 3D Pose Estimation in Indoor Environments
This paper presents a novel application of the Visual Servoing Platform’s (ViSP) for pose estimation in indoor and GPS-denied outdoor environments. Our proposed solution integrates the trajectory solution from RGBD-SLAM into ViSP’s pose estimation process. Li-Chee-Ming and Armenakis (2015) explore...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Copernicus Publications
2016-06-01
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| Series: | The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| Online Access: | https://www.int-arch-photogramm-remote-sens-spatial-inf-sci.net/XLI-B1/925/2016/isprs-archives-XLI-B1-925-2016.pdf |
| Summary: | This paper presents a novel application of the Visual Servoing Platform’s (ViSP) for pose estimation in indoor and GPS-denied
outdoor environments. Our proposed solution integrates the trajectory solution from RGBD-SLAM into ViSP’s pose estimation
process. Li-Chee-Ming and Armenakis (2015) explored the application of ViSP in mapping large outdoor environments, and tracking
larger objects (i.e., building models). Their experiments revealed that tracking was often lost due to a lack of model features in the
camera’s field of view, and also because of rapid camera motion. Further, the pose estimate was often biased due to incorrect feature
matches. This work proposes a solution to improve ViSP’s pose estimation performance, aiming specifically to reduce the frequency
of tracking losses and reduce the biases present in the pose estimate. This paper explores the integration of ViSP with RGB-D
SLAM. We discuss the performance of the combined tracker in mapping indoor environments and tracking 3D wireframe indoor
building models, and present preliminary results from our experiments. |
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| ISSN: | 1682-1750 2194-9034 |