Title :
Indoor mapping using planes extracted from noisy RGB-D sensors
Author :
Lee, Tae-kyeong ; Lim, Seungwook ; Lee, Seongsoo ; An, Shounan ; Oh, Se-young
Author_Institution :
Dept. of Electr. Eng., Pohang Univ. of Sci. & Technol. (POSTECH), Pohang, South Korea
Abstract :
This paper presents a fast and robust plane feature extraction and matching technique for RGB-D type sensors. We propose three algorithm components required to utilize the plane features in an online Simultaneous Localization and Mapping (SLAM) problem: fast plane extraction, frame-to-frame constraint estimation, and plane merging. For the fast plane extraction, we estimate local surface normals and curvatures by a simple spherical model and then segment points using a modified flood fill algorithm. In plane parameter estimation, we suggest a new uncertainty estimation method which is robust against the measurement bias, and also introduce a fast boundary modeling method. We associate the plane features based on both the parameters and the spatial coverage, and estimate the stable constraints by the cost function with a regulation term. Also, our plane merging technique provides a way of generating local maps that are useful for estimating loop closure constraints. We have performed real-world experiments at our lab environment. The results demonstrate the efficiency and robustness of the proposed algorithm.
Keywords :
SLAM (robots); feature extraction; parameter estimation; robust control; sensors; SLAM problem; frame-to-frame constraint estimation; indoor mapping; noisy RGB-D sensors; plane merging; plane parameter estimation; robust plane feature extraction; robust plane feature matching; robustness; simultaneous localization and mapping problem; stable constraints; uncertainty estimation method; Cameras; Estimation; Feature extraction; Image segmentation; Simultaneous localization and mapping; Vectors;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on
Conference_Location :
Vilamoura
Print_ISBN :
978-1-4673-1737-5
DOI :
10.1109/IROS.2012.6385909