CPA-SLAM: Consistent plane-model alignment for direct RGB-D SLAM
Ma L, Kerl C, Stückler J, Cremers D (2016)
Publication Type: Conference contribution
Publication year: 2016
Journal
Publisher: Institute of Electrical and Electronics Engineers Inc.
Book Volume: 2016-June
Pages Range: 1285-1291
Conference Proceedings Title: Proceedings - IEEE International Conference on Robotics and Automation
Event location: Stockholm, SWE
ISBN: 9781467380263
DOI: 10.1109/ICRA.2016.7487260
Abstract
Planes are predominant features of man-made environments which have been exploited in many mapping approaches. In this paper, we propose a real-time capable RGB-D SLAM system that consistently integrates frame-to-keyframe and frame-to-plane alignment. Our method models the environment with a global plane model and - besides direct image alignment - it uses the planes for tracking and global graph optimization. This way, our method makes use of the dense image information available in keyframes for accurate short-term tracking. At the same time it uses a global model to reduce drift. Both components are integrated consistently in an expectation-maximization framework. In experiments, we demonstrate the benefits our approach and its state-of-the-art accuracy on challenging benchmarks.
Involved external institutions
Germany (DE)How to cite
APA:
Ma, L., Kerl, C., Stückler, J., & Cremers, D. (2016). CPA-SLAM: Consistent plane-model alignment for direct RGB-D SLAM. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 1285-1291). Stockholm, SWE: Institute of Electrical and Electronics Engineers Inc..
MLA:
Ma, Lingni, et al. "CPA-SLAM: Consistent plane-model alignment for direct RGB-D SLAM." Proceedings of the 2016 IEEE International Conference on Robotics and Automation, ICRA 2016, Stockholm, SWE Institute of Electrical and Electronics Engineers Inc., 2016. 1285-1291.
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