000036752 001__ 36752
000036752 005__ 20210121114453.0
000036752 0247_ $$2doi$$a10.1109/IROS.2015.7354184
000036752 0248_ $$2sideral$$a92153
000036752 037__ $$aART-2015-92153
000036752 041__ $$aeng
000036752 100__ $$0(orcid)0000-0001-6418-3828$$aConcha Belenguer, Alejo
000036752 245__ $$aDPPTAM: Dense Piecewise Planar Tracking and Mapping from a Monocular Sequence
000036752 260__ $$c2015
000036752 5060_ $$aAccess copy available to the general public$$fUnrestricted
000036752 5203_ $$aThis paper proposes a direct monocular SLAM algorithm that estimates a dense reconstruction of a scene in real-time on a CPU. Highly textured image areas are mapped using standard direct mapping techniques [1], that minimize the photometric error across different views. We make the assumption that homogeneous-color regions belong to approximately planar areas. Our contribution is a new algorithm for the estimation of such planar areas, based on the information of a superpixel segmentation and the semidense map from highly textured areas.
We compare our approach against several alternatives using the public TUM dataset [2] and additional live experiments with a hand-held camera. We demonstrate that our proposal for piecewise planar monocular SLAM is faster, more accurate and more robust than the piecewise planar baseline [3]. In addition, our experimental results show how the depth regularization of monocular maps can damage its accuracy, being the piecewise planar assumption a reasonable option in indoor scenarios.
000036752 536__ $$9info:eu-repo/grantAgreement/ES/MINECO/DPI2012-32168$$9info:eu-repo/grantAgreement/ES/MINECO/IPT2012-1309-430000
000036752 540__ $$9info:eu-repo/semantics/openAccess$$aAll rights reserved$$uhttp://www.europeana.eu/rights/rr-f/
000036752 592__ $$a0.843$$b2015
000036752 593__ $$aComputer Science Applications$$c2015
000036752 593__ $$aSoftware$$c2015
000036752 593__ $$aControl and Systems Engineering$$c2015
000036752 593__ $$aComputer Vision and Pattern Recognition$$c2015
000036752 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/submittedVersion
000036752 700__ $$0(orcid)0000-0003-1368-1151$$aCivera Sancho, Javier$$uUniversidad de Zaragoza
000036752 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát.
000036752 773__ $$g2015 (2015), [8 pp.]$$pProc. IEEE/RSJ Int. Conf. Intell. Rob. Syst.$$tProceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems$$x2153-0858
000036752 8564_ $$s2378528$$uhttps://zaguan.unizar.es/record/36752/files/texto_completo.pdf$$yPreprint
000036752 8564_ $$s111800$$uhttps://zaguan.unizar.es/record/36752/files/texto_completo.jpg?subformat=icon$$xicon$$yPreprint
000036752 909CO $$ooai:zaguan.unizar.es:36752$$particulos$$pdriver
000036752 951__ $$a2021-01-21-10:47:00
000036752 980__ $$aARTICLE