Joint Solution for the Online 3D Photorealistic Mapping Using SfM and SLAM. (4th January 2013)

• Record Type: Journal Article
• Authors: Choi, Hyunga; Jun, ChangHyun; Li Yuen, Shang; Cho, HyunGi; Doh, Nakju Lett
• Is Part Of: International journal of advanced robotic systems. Volume 10:Number 1(2013)
• Publication Date: 2013-01-04
• Subjects: SLAM -- SfM -- Mapping -- Photorealistic -- 3 dimensional -- Online mapping; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/52854
• Languages: English
• ISSNs: 1729-8806

Abstract

This paper proposes a novel hybrid solution of SfM (Structure from Motion) and SLAM (Simultaneous Localization And Mapping) for the online generation of a 3D photorealistic map. As it is well known, the SfM can generate a 3D photo map, but it is difficult to get the real-scale as well as to build an online map (i.e., the map cannot be generated on the fly). In contrast, while SLAM frameworks are suitable for online real-scale mapping, they are not adequate for 3D photo map generation. To create a synergy effect, the proposed method combines SfM and SLAM. The way of combination is to use SfM for the generation of local maps and to utilize SLAM for a fusion of local maps in a globally consistent manner. Experimental results show that the proposed hybrid approach enables online 3D photorealistic mapping.