NDLI: SLAM using both points and planes for hand-held 3D sensors

Content Provider	IEEE Xplore Digital Library
Author	Taguchi, Y. Yong-Dian Jian Ramalingam, S. Chen Feng
Copyright Year	2012
Description	Author affiliation: Georgia Institute of Technology, USA (Yong-Dian Jian) \|\| Mitsubishi Electric Research Labs (MERL), USA (Taguchi, Y.; Ramalingam, S.) \|\| University of Michigan, USA (Chen Feng)
Abstract	We present a simultaneous localization and mapping (SLAM) algorithm for a hand-held 3D sensor that uses both points and planes as primitives. Our algorithm uses any combination of three point/plane primitives (3 planes, 2 planes and 1 point, 1 plane and 2 points, and 3 points) in a RANSAC framework to efficiently compute the sensor pose. As the number of planes is significantly smaller than the number of points in typical 3D scenes, our RANSAC algorithm prefers primitive combinations involving more planes than points. In contrast to existing approaches that mainly use points for registration, our algorithm has the following advantages: (1) it enables faster correspondence search and registration due to the smaller number of plane primitives; (2) it produces plane-based 3D models that are more compact than point-based ones; and (3) being a global registration algorithm, our approach does not suffer from local minima or any initialization problems. Our experiments demonstrate real-time, interactive 3D reconstruction of office spaces using a hand-held Kinect sensor.
Starting Page	321
Ending Page	322
File Size	2758526
Page Count	2
File Format	PDF
ISBN	9781467346603
e-ISBN	9781467346627
e-ISBN	9781467346610
DOI	10.1109/ISMAR.2012.6402594
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-11-05
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Simultaneous localization and mapping Real-time systems Current measurement Color Three dimensional displays Cameras Tracking I.4.8 [Image Processing and Computer Vision]: Scene Analysis—Range Data
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in