标题：3D PANORAMA RECONSTRUCTION BASED ON SUBMAP JOINING
作者：Wang, Huixuan; Guo, Yanwen; Do, Minh N.; Zhang, Caiming; Tu, Changhe
作者机构：[Wang, Huixuan; Zhang, Caiming; Tu, Changhe] Shandong Univ, Sch Comp Sci & Technol, Jinan 250101, Shandong, Peoples R China.; [Guo, Yanwen] Nanjing 更多
会议名称：IEEE International Conference on Acoustics, Speech, and Signal Processing
会议日期：MAR 20-25, 2016
来源：2016 IEEE INTERNATIONAL CONFERENCE ON ACOUSTICS, SPEECH AND SIGNAL PROCESSING PROCEEDINGS
关键词：SLAM; RGB-D camera; linear optimization; visual odometry
摘要：We present a new approach for constructing the 3D panorama for an indoor environment by joining together aligned submaps. For each submap, the trajectory of the moving camera is estimated based on the Kanade-LucasTomasi (KLT) features. Our method can update the feature set status by adding new features and removing expiring ones adaptively to accommodate scene changes. The accuracy of the estimated poses is further improved through sparse bundle adjustment. Furthermore, we utilize a linear optimization framework to align all submaps to obtain a consistently extended 3D panorama and to refine the visual odometry at the same time. We evaluated our approach on publicly available benchmark datasets. The experiments demonstrate that the proposed method achieves low translational drift and is robust even when the camera moves very fast.