Joint Solution for the Online 3D Photorealistic Mapping Using SfM and SLAM
- Authors
- Choi, Hyunga; Jun, ChangHyun; Yuen, Shang Li; Cho, HyunGi; Doh, Nakju Lett
- Issue Date
- 4-1월-2013
- Publisher
- SAGE PUBLICATIONS INC
- Keywords
- SLAM; SfM; Mapping; Photorealistic; 3 dimensional; Online mapping
- Citation
- INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, v.10
- Indexed
- SCOPUS
- Journal Title
- INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
- Volume
- 10
- URI
- https://scholar.korea.ac.kr/handle/2021.sw.korea/104224
- DOI
- 10.5772/52854
- ISSN
- 1729-8814
- 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.
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Collections - Executive Vice President for Research > Institute of Convergence Science > 1. Journal Articles
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