Reconstructing Street-Scenes in Real-Time from a Driving Car
Usenko V, Engel J, Stueckler J, Cremers D (2015)
Publication Type: Conference contribution
Publication year: 2015
Publisher: Institute of Electrical and Electronics Engineers Inc.
Pages Range: 607-614
Conference Proceedings Title: Proceedings - 2015 International Conference on 3D Vision, 3DV 2015
Event location: Lyon, FRA
ISBN: 9781467383325
DOI: 10.1109/3DV.2015.75
Abstract
Most current approaches to street-scene 3D reconstruction from a driving car to date rely on 3D laser scanning or tedious offline computation from visual images. In this paper, we compare a real-time capable 3D reconstruction method using a stereo extension of large-scale direct SLAM (LSD-SLAM) with laser-based maps and traditional stereo reconstructions based on processing individual stereo frames. In our reconstructions, small-baseline comparison over several subsequent frames are fused with fixed-baseline disparity from the stereo camera setup. These results demonstrate that our direct SLAM technique provides an excellent compromise between speed and accuracy, generating visually pleasing and globally consistent semi-dense reconstructions of the environment in real-time on a single CPU.
Involved external institutions
Germany (DE)How to cite
APA:
Usenko, V., Engel, J., Stueckler, J., & Cremers, D. (2015). Reconstructing Street-Scenes in Real-Time from a Driving Car. In Michael Brown, Jana Kosecka, Christian Theobalt (Eds.), Proceedings - 2015 International Conference on 3D Vision, 3DV 2015 (pp. 607-614). Lyon, FRA: Institute of Electrical and Electronics Engineers Inc..
MLA:
Usenko, Vladyslav, et al. "Reconstructing Street-Scenes in Real-Time from a Driving Car." Proceedings of the 2015 International Conference on 3D Vision, 3DV 2015, Lyon, FRA Ed. Michael Brown, Jana Kosecka, Christian Theobalt, Institute of Electrical and Electronics Engineers Inc., 2015. 607-614.
BibTeX: Download