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Springer Nature
Lecture Notes in Computer Science
,  volume 11097 LNAI ,  pages 23-33

Sparse 3D point-cloud map upsampling and noise removal as a vSLAM post-processing step: Experimental evaluation

Publication type: Book Chapter
Publication date: 2018-08-17
Springer Nature
scimago Q2
SJR: 0.352
CiteScore: 2.4
Impact factor: —
ISSN: 03029743, 16113349, 18612075, 18612083
Abstract
The monocular vision-based simultaneous localization and mapping (vSLAM) is one of the most challenging problem in mobile robotics and computer vision. In this work we study the post-processing techniques applied to sparse 3D point-cloud maps, obtained by feature-based vSLAM algorithms. Map post-processing is split into 2 major steps: (1) noise and outlier removal and (2) upsampling. We evaluate different combinations of known algorithms for outlier removing and upsampling on datasets of real indoor and outdoor environments and identify the most promising combination. We further use it to convert a point-cloud map, obtained by the real UAV performing indoor flight to 3D voxel grid (octo-map) potentially suitable for path planning.
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Bokovoy A. et al. Sparse 3D point-cloud map upsampling and noise removal as a vSLAM post-processing step: Experimental evaluation // Lecture Notes in Computer Science. 2018. Vol. 11097 LNAI. pp. 23-33.
GOST all authors (up to 50) Copy
Bokovoy A., Yakovlev K. Sparse 3D point-cloud map upsampling and noise removal as a vSLAM post-processing step: Experimental evaluation // Lecture Notes in Computer Science. 2018. Vol. 11097 LNAI. pp. 23-33.
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RIS Copy
TY - GENERIC
DO - 10.1007/978-3-319-99582-3_3
UR - https://doi.org/10.1007/978-3-319-99582-3_3
TI - Sparse 3D point-cloud map upsampling and noise removal as a vSLAM post-processing step: Experimental evaluation
T2 - Lecture Notes in Computer Science
AU - Bokovoy, Andrey
AU - Yakovlev, Konstantin
PY - 2018
DA - 2018/08/17
PB - Springer Nature
SP - 23-33
VL - 11097 LNAI
SN - 0302-9743
SN - 1611-3349
SN - 1861-2075
SN - 1861-2083
ER -
BibTex
Cite this
BibTex (up to 50 authors) Copy
@incollection{2018_Bokovoy,
author = {Andrey Bokovoy and Konstantin Yakovlev},
title = {Sparse 3D point-cloud map upsampling and noise removal as a vSLAM post-processing step: Experimental evaluation},
publisher = {Springer Nature},
year = {2018},
volume = {11097 LNAI},
pages = {23--33},
month = {aug}
}