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Books > Professional & Technical > Electronics & communications engineering > Electronics engineering > Automatic control engineering > Robotics
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Efficient 3D Scene Modeling and Mosaicing (Hardcover, 2013 ed.)
Loot Price: R3,715
Discovery Miles 37 150
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Efficient 3D Scene Modeling and Mosaicing (Hardcover, 2013 ed.)
Series: Springer Tracts in Advanced Robotics, 87
Expected to ship within 10 - 15 working days
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Total price: R3,735
Discovery Miles: 37 350
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This book proposes a complete pipeline for monocular (single
camera) based 3D mapping of terrestrial and underwater
environments. The aim is to provide a solution to large-scale scene
modeling that is both accurate and efficient. To this end, we have
developed a novel Structure from Motion algorithm that increases
mapping accuracy by registering camera views directly with the
maps. The camera registration uses a dual approach that adapts to
the type of environment being mapped. In order to further increase
the accuracy of the resulting maps, a new method is presented,
allowing detection of images corresponding to the same scene region
(crossovers). Crossovers then used in conjunction with global
alignment methods in order to highly reduce estimation errors,
especially when mapping large areas. Our method is based on Visual
Bag of Words paradigm (BoW), offering a more efficient and simpler
solution by eliminating the training stage, generally required by
state of the art BoW algorithms. Also, towards developing methods
for efficient mapping of large areas (especially with costs related
to map storage, transmission and rendering in mind), an online 3D
model simplification algorithm is proposed. This new algorithm
presents the advantage of selecting only those vertices that are
geometrically representative for the scene.
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