Estimation of scale and slope information for structure from motion-based 3D map

Yuyang Shao, Yonghoon Ji, Hiromitsu Fujii, Keiji Nagatani, Atsushi Yamashita, Hajime Asama

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

1 Citation (Scopus)

Abstract

Dealing with natural disasters, such as debris flow, typically involves teleoperation of an unmanned robot. Three-dimensional (3D) map information of an environment is especially useful for teleoperating the unmanned robot system to perform unmanned construction and auto-investigation. Recently, structure from motion (SfM) using an unmanned aerial vehicle (UAV) equipped with monocular cameras has been proposed as a general method to build 3D map information. However, absolute slope and scale information for the built 3D map cannot be obtained when applying general SfM technology without the deployment of ground control points (GCPs). Therefore, we propose a method that can recover absolute slope and scale information for a 3D map. To this end, we apply sensor fusion technology that combines inertial measurement unit (IMU) data from an unmanned ground vehicle (UGV) and image data from the camera mounted on a UAV. Experimental results show that our estimation scheme is able to successfully represent the slope and scale information along with the 3D map.

Original languageEnglish
Title of host publicationSII 2017 - 2017 IEEE/SICE International Symposium on System Integration
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages208-213
Number of pages6
ISBN (Electronic)9781538622636
DOIs
Publication statusPublished - 2018 Feb 1
Event2017 IEEE/SICE International Symposium on System Integration, SII 2017 - Taipei, Taiwan, Province of China
Duration: 2017 Dec 112017 Dec 14

Publication series

NameSII 2017 - 2017 IEEE/SICE International Symposium on System Integration
Volume2018-January

Other

Other2017 IEEE/SICE International Symposium on System Integration, SII 2017
CountryTaiwan, Province of China
CityTaipei
Period17/12/1117/12/14

ASJC Scopus subject areas

  • Modelling and Simulation
  • Instrumentation
  • Artificial Intelligence
  • Computer Science Applications
  • Engineering (miscellaneous)
  • Materials Science (miscellaneous)
  • Control and Optimization

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