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Proceedings Paper

3D map generation based on keyframes selection and keypoints tracking
Author(s): Jose A. Gonzalez-Fraga; Vitaly Kober; Omar Alvarez-Xochihua
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Paper Abstract

There are several factors that affect the performance of a 3D scene reconstruction system. Among them the most important are the choice of feature detectors and descriptors, number of visual features and correct match between them, reliable tracking of the correspondences along selected keyframes.

In this work, we propose a fast method for generation of a 3D map from the time sequence of RGB-D images selecting the minimum number of keypoints and keyframes that still ensures correct feature correspondences and as a result a high quality of the 3D map. The performance of the proposed algorithm of the 3D scene reconstruction is evaluated by computer simulation using real indoor environment data.

Paper Details

Date Published: 6 September 2019
PDF: 6 pages
Proc. SPIE 11137, Applications of Digital Image Processing XLII, 111371B (6 September 2019); doi: 10.1117/12.2528961
Show Author Affiliations
Jose A. Gonzalez-Fraga, Univ. Autónoma de Baja California (Mexico)
Vitaly Kober, CICESE (Mexico)
Chelyabinsk State Univ. (Russian Federation)
Omar Alvarez-Xochihua, Univ. Autónoma de Baja California (Mexico)

Published in SPIE Proceedings Vol. 11137:
Applications of Digital Image Processing XLII
Andrew G. Tescher; Touradj Ebrahimi, Editor(s)

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