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hal-00752897, version 1

Dense RGB-D mapping of large scale environments for real-time localisation and autonomous navigation

Maxime Meilland 1, Patrick Rives () 2, Andrew I. Comport () a3

Intelligent Vehicle (IV'12) Workshop on Navigation, Perception, Accurate Positioning and Mapping for Intelligent Vehicles (2012)

Résumé : This paper presents a method and apparatus for building 3D dense visual maps of large scale environments for real-time localisation and autonomous navigation. We propose a spherical ego-centric representation of the environment which is able to reproduce photo-realistic omnidirectional views of captured environments. This representation is composed of a graph of locally accurate augmented spherical panoramas that allows to generate varying viewpoints through novel view synthesis. The spheres are related by a graph of 6 d.o.f. poses which are estimated through multi-view spherical registration. It is shown that this representation can be used to accurately localise a vehicle navigating within the spherical graph, using only a monocular camera for accurate localisation. To perform this task, an efficient direct image registration technique is employed. This approach directly exploits the advantages of the spherical representation by minimising a photometric error between a current image and a reference sphere. Autonomous navigation results are shown in challenging urban environ- ments, containing pedestrians and other vehicles.

  • Domaine : Informatique/Robotique
 
  • hal-00752897, version 1
  • oai:hal.inria.fr:hal-00752897
  • Contributeur : 
  • Soumis le : Vendredi 16 Novembre 2012, 15:57:33
  • Dernière modification le : Jeudi 6 Mars 2014, 13:38:34
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