Joint Solution for the Online 3D Photorealistic Mapping Using SfM and SLAM
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Choi, Hyunga | - |
dc.contributor.author | Jun, ChangHyun | - |
dc.contributor.author | Yuen, Shang Li | - |
dc.contributor.author | Cho, HyunGi | - |
dc.contributor.author | Doh, Nakju Lett | - |
dc.date.accessioned | 2021-09-06T05:24:26Z | - |
dc.date.available | 2021-09-06T05:24:26Z | - |
dc.date.created | 2021-06-14 | - |
dc.date.issued | 2013-01-04 | - |
dc.identifier.issn | 1729-8814 | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/104224 | - |
dc.description.abstract | This paper proposes a novel hybrid solution of SfM (Structure from Motion) and SLAM (Simultaneous Localization And Mapping) for the online generation of a 3D photorealistic map. As it is well known, the SfM can generate a 3D photo map, but it is difficult to get the real-scale as well as to build an online map (i.e., the map cannot be generated on the fly). In contrast, while SLAM frameworks are suitable for online real-scale mapping, they are not adequate for 3D photo map generation. To create a synergy effect, the proposed method combines SfM and SLAM. The way of combination is to use SfM for the generation of local maps and to utilize SLAM for a fusion of local maps in a globally consistent manner. Experimental results show that the proposed hybrid approach enables online 3D photorealistic mapping. | - |
dc.language | English | - |
dc.language.iso | en | - |
dc.publisher | SAGE PUBLICATIONS INC | - |
dc.subject | SIMULTANEOUS LOCALIZATION | - |
dc.title | Joint Solution for the Online 3D Photorealistic Mapping Using SfM and SLAM | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Doh, Nakju Lett | - |
dc.identifier.doi | 10.5772/52854 | - |
dc.identifier.scopusid | 2-s2.0-84872981564 | - |
dc.identifier.wosid | 000316453800003 | - |
dc.identifier.bibliographicCitation | INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, v.10 | - |
dc.relation.isPartOf | INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS | - |
dc.citation.title | INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS | - |
dc.citation.volume | 10 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.description.journalClass | 1 | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Robotics | - |
dc.relation.journalWebOfScienceCategory | Robotics | - |
dc.subject.keywordPlus | SIMULTANEOUS LOCALIZATION | - |
dc.subject.keywordAuthor | SLAM | - |
dc.subject.keywordAuthor | SfM | - |
dc.subject.keywordAuthor | Mapping | - |
dc.subject.keywordAuthor | Photorealistic | - |
dc.subject.keywordAuthor | 3 dimensional | - |
dc.subject.keywordAuthor | Online mapping | - |
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