Dense RGB-D mapping of large scale environments for real-time localisation and autonomous navigation - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Conference Papers Year : 2012

Dense RGB-D mapping of large scale environments for real-time localisation and autonomous navigation

Abstract

This paper presents a method and apparatus for building 3D dense visual maps of large scale environments for real-time localisation and autonomous navigation. We propose a spherical ego-centric representation of the environment which is able to reproduce photo-realistic omnidirectional views of captured environments. This representation 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 6 d.o.f. poses which are estimated through multi-view spherical registration. It is shown that this representation can be used to accurately localise a vehicle navigating within the spherical graph, using only a monocular camera for accurate localisation. To perform this task, an efficient direct image registration technique is employed. This approach directly exploits the advantages of the spherical representation by minimising a photometric error between a current image and a reference sphere. Autonomous navigation results are shown in challenging urban environ- ments, containing pedestrians and other vehicles.
Fichier principal
Vignette du fichier
2012_iv_meilland.pdf (1.05 Mo) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

hal-00752897 , version 1 (16-11-2012)

Identifiers

  • HAL Id : hal-00752897 , version 1

Cite

Maxime Meilland, Patrick Rives, Andrew I. Comport. Dense RGB-D mapping of large scale environments for real-time localisation and autonomous navigation. Intelligent Vehicle (IV'12) Workshop on Navigation, Perception, Accurate Positioning and Mapping for Intelligent Vehicles, Jun 2012, Alcala de Henares, Spain. ⟨hal-00752897⟩
537 View
161 Download

Share

Gmail Facebook X LinkedIn More