Creation of 3D Environmental Map using Omnidirectional Camera Images

Yuya Kato, Junichi Hara, Hiroshi Watanabe

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

In this paper, we propose a method to create a 3D environmental map from images captured by omnidirectional camera. Conventional methods using Simultaneous Localization and Mapping (SLAM) and fisheye images have a problem that the obtained feature points are geometrically distorted. To solve this problem, we transform the images captured by the omnidirectional camera using cube mapping and apply SLAM to the video created by concatenating the transformed images. The feature points located 360 degrees around the camera are merged into a single map. Experimental results show that our method outperforms other methods in terms of the number and accuracy of the obtained point cloud.

Original languageEnglish
Title of host publication2021 IEEE 10th Global Conference on Consumer Electronics, GCCE 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages450-453
Number of pages4
ISBN (Electronic)9781665436762
DOIs
Publication statusPublished - 2021
Event10th IEEE Global Conference on Consumer Electronics, GCCE 2021 - Kyoto, Japan
Duration: 2021 Oct 122021 Oct 15

Publication series

Name2021 IEEE 10th Global Conference on Consumer Electronics, GCCE 2021

Conference

Conference10th IEEE Global Conference on Consumer Electronics, GCCE 2021
Country/TerritoryJapan
CityKyoto
Period21/10/1221/10/15

Keywords

  • 3d environmental map
  • omnidirectional camera
  • slam

ASJC Scopus subject areas

  • Computer Science Applications
  • Signal Processing
  • Biomedical Engineering
  • Electrical and Electronic Engineering
  • Media Technology
  • Instrumentation

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