NDLI: Dense visual mapping of large scale environments for real-time localisation

Content Provider	IEEE Xplore Digital Library
Author	Meilland, M. Comport, A.I. Rives, P.
Copyright Year	2011
Description	Author affiliation: CNRS, I3S Laboratory, Université Nice Sophia Antipolis, 2000 Route des Lucioles BP 121, France (Comport, A.I.) \|\| INRIA Sophia Antipolis Méditerranée, 2004 Route des Lucioles BP 93, France (Meilland, M.; Rives, P.)
Abstract	This paper presents a method and apparatus for building dense visual maps of large scale 3D environments for real-time localisation and navigation. A spherical ego-centric representation of the environment is proposed that is able to reproduce photo-realistic omnidirectional views of captured environments. This representation is novel in that it is composed of a graph of locally accurate augmented spherical panoramas that allows to generate varying viewpoints through novel view synthesis. The spheres are related by a graph of 6dof poses which are estimated through multi-view spherical registration. To acquire these models, a multi-baseline acquisition system has been designed and built which is based on an outward facing ring of cameras with diverging views. This configuration allows to capture high resolution spherical images of the environment and compute a dense depth map through a wide baseline dense correspondence algorithm. A calibration procedure is developed for an outward facing camera ring that imposes a loop closing constraint, in order to obtain a consistent set of extrinsic parameters. This spherical sensor is shown to acquire compact, accurate and efficient representations of large environments and is used for real-time model-based localisation.
Starting Page	4242
Ending Page	4248
File Size	831235
Page Count	7
File Format	PDF
ISBN	9781612844541
ISSN	21530858
e-ISBN	9781612844565
DOI	10.1109/IROS.2011.6094703
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cameras Three dimensional displays Solid modeling Calibration Robot sensing systems Visualization Navigation
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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