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General information |
| Author |
Choi, Hyunga; Jun, ChangHyun; Yuen, Shang Li; Cho, HyunGi; Doh, Nakju Lett |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
This paper proposes a novel hybrid solution of
SfM (Structure from Motion) and SLAM (Simultaneous
Localization And Mapping) for the online generation of a
3D photorealistic map. As it is well known, the SfM can
generate a 3D photo map, but it is difficult to get the realscale
as well as to build an online map (i.e., the map
cannot be generated on the fly). In contrast, while SLAM
frameworks are suitable for online real‐scale mapping,
they are not adequate for 3D photo map generation. To
create a synergy effect, the proposed method combines
SfM and SLAM. The way of combination is to use SfM for
the generation of local maps and to utilize SLAM for a
fusion of local maps in a globally consistent manner.
Experimental results show that the proposed hybrid
approach enables online 3D photorealistic mapping. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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