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

doi:10.1109/SII.2017.8279213

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

New Industry Creation Hatchery Center (NICHe)

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	SII 2017 - 2017 IEEE/SICE International Symposium on System Integration
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	208-213
Number of pages	6
ISBN (Electronic)	9781538622636
DOIs	https://doi.org/10.1109/SII.2017.8279213
Publication status	Published - 2018 Feb 1
Event	2017 IEEE/SICE International Symposium on System Integration, SII 2017 - Taipei, Taiwan, Province of China Duration: 2017 Dec 11 → 2017 Dec 14

Publication series

Name	SII 2017 - 2017 IEEE/SICE International Symposium on System Integration
Volume	2018-January

Other

Other	2017 IEEE/SICE International Symposium on System Integration, SII 2017
Country	Taiwan, Province of China
City	Taipei
Period	17/12/11 → 17/12/14

ASJC Scopus subject areas

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

Access to Document

10.1109/SII.2017.8279213

Fingerprint Dive into the research topics of 'Estimation of scale and slope information for structure from motion-based 3D map'. Together they form a unique fingerprint.

Cite this

Shao, Y., Ji, Y., Fujii, H., Nagatani, K., Yamashita, A., & Asama, H. (2018). Estimation of scale and slope information for structure from motion-based 3D map. In SII 2017 - 2017 IEEE/SICE International Symposium on System Integration (pp. 208-213). (SII 2017 - 2017 IEEE/SICE International Symposium on System Integration; Vol. 2018-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SII.2017.8279213

Estimation of scale and slope information for structure from motion-based 3D map. / Shao, Yuyang; Ji, Yonghoon; Fujii, Hiromitsu; Nagatani, Keiji; Yamashita, Atsushi; Asama, Hajime.

SII 2017 - 2017 IEEE/SICE International Symposium on System Integration. Institute of Electrical and Electronics Engineers Inc., 2018. p. 208-213 (SII 2017 - 2017 IEEE/SICE International Symposium on System Integration; Vol. 2018-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Shao, Y, Ji, Y, Fujii, H, Nagatani, K, Yamashita, A & Asama, H 2018, Estimation of scale and slope information for structure from motion-based 3D map. in SII 2017 - 2017 IEEE/SICE International Symposium on System Integration. SII 2017 - 2017 IEEE/SICE International Symposium on System Integration, vol. 2018-January, Institute of Electrical and Electronics Engineers Inc., pp. 208-213, 2017 IEEE/SICE International Symposium on System Integration, SII 2017, Taipei, Taiwan, Province of China, 17/12/11. https://doi.org/10.1109/SII.2017.8279213

Shao Y, Ji Y, Fujii H, Nagatani K, Yamashita A, Asama H. Estimation of scale and slope information for structure from motion-based 3D map. In SII 2017 - 2017 IEEE/SICE International Symposium on System Integration. Institute of Electrical and Electronics Engineers Inc. 2018. p. 208-213. (SII 2017 - 2017 IEEE/SICE International Symposium on System Integration). https://doi.org/10.1109/SII.2017.8279213

Shao, Yuyang ; Ji, Yonghoon ; Fujii, Hiromitsu ; Nagatani, Keiji ; Yamashita, Atsushi ; Asama, Hajime. / Estimation of scale and slope information for structure from motion-based 3D map. SII 2017 - 2017 IEEE/SICE International Symposium on System Integration. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 208-213 (SII 2017 - 2017 IEEE/SICE International Symposium on System Integration).

@inproceedings{cb26fbd6427f4f10994eba261a241487,

title = "Estimation of scale and slope information for structure from motion-based 3D map",

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.",

author = "Yuyang Shao and Yonghoon Ji and Hiromitsu Fujii and Keiji Nagatani and Atsushi Yamashita and Hajime Asama",

year = "2018",

month = feb,

day = "1",

doi = "10.1109/SII.2017.8279213",

language = "English",

series = "SII 2017 - 2017 IEEE/SICE International Symposium on System Integration",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "208--213",

booktitle = "SII 2017 - 2017 IEEE/SICE International Symposium on System Integration",

note = "2017 IEEE/SICE International Symposium on System Integration, SII 2017 ; Conference date: 11-12-2017 Through 14-12-2017",

}

TY - GEN

T1 - Estimation of scale and slope information for structure from motion-based 3D map

AU - Shao, Yuyang

AU - Ji, Yonghoon

AU - Fujii, Hiromitsu

AU - Nagatani, Keiji

AU - Yamashita, Atsushi

AU - Asama, Hajime

PY - 2018/2/1

Y1 - 2018/2/1

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=85050874033&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85050874033&partnerID=8YFLogxK

U2 - 10.1109/SII.2017.8279213

DO - 10.1109/SII.2017.8279213

M3 - Conference contribution

AN - SCOPUS:85050874033

T3 - SII 2017 - 2017 IEEE/SICE International Symposium on System Integration

SP - 208

EP - 213

BT - SII 2017 - 2017 IEEE/SICE International Symposium on System Integration

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2017 IEEE/SICE International Symposium on System Integration, SII 2017

Y2 - 11 December 2017 through 14 December 2017

ER -