Creation of 3D Environmental Map using Omnidirectional Camera Images

Yuya Kato, Junichi Hara, Hiroshi Watanabe

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2021 IEEE 10th Global Conference on Consumer Electronics, GCCE 2021
出版社Institute of Electrical and Electronics Engineers Inc.
ページ450-453
ページ数4
ISBN(電子版)9781665436762
DOI
出版ステータスPublished - 2021
イベント10th IEEE Global Conference on Consumer Electronics, GCCE 2021 - Kyoto, Japan
継続期間: 2021 10月 122021 10月 15

出版物シリーズ

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

Conference

Conference10th IEEE Global Conference on Consumer Electronics, GCCE 2021
国/地域Japan
CityKyoto
Period21/10/1221/10/15

ASJC Scopus subject areas

  • コンピュータ サイエンスの応用
  • 信号処理
  • 生体医工学
  • 電子工学および電気工学
  • メディア記述
  • 器械工学

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