Abstract
This paper present a framework for incremental 3D cuboid modeling combined with RGB-D SLAM. While performing RGB-D SLAM, planes are incrementally reconstructed from point clouds. Then, cuboids are detected in the planes by analyzing the positional relationships between the planes; orthogonality, convexity, and proximity. Finally, the position, pose and size of a cuboid are determined by computing the intersection of three perpendicular planes. In addition, the cuboid shapes are incrementally updated to suppress false detections with sequential measurements. As an application of our framework, an augmented reality based interactive cuboid modeling system is introduced. In the evaluation at a cluttered environment, the precision and recall of the cuboid detection are improved with our framework owing to stable plane detection, compared with a batch based method.
Original language | English |
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Title of host publication | Computer Vision – ECCV 2018 Workshops, Proceedings |
Editors | Laura Leal-Taixé, Stefan Roth |
Publisher | Springer Verlag |
Pages | 414-429 |
Number of pages | 16 |
ISBN (Print) | 9783030110086 |
DOIs | |
Publication status | Published - 2019 |
Event | 15th European Conference on Computer Vision, ECCV 2018 - Munich, Germany Duration: 8 Sept 2018 → 14 Sept 2018 |
Publication series
Name | Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) |
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Volume | 11129 LNCS |
ISSN (Print) | 0302-9743 |
ISSN (Electronic) | 1611-3349 |
Conference
Conference | 15th European Conference on Computer Vision, ECCV 2018 |
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Country/Territory | Germany |
City | Munich |
Period | 8/09/18 → 14/09/18 |
Bibliographical note
Funding Information:This work is supported by JSPS KAKENHI Grant Number JP17H01768.
Publisher Copyright:
© Springer Nature Switzerland AG 2019.
Funding
This work is supported by JSPS KAKENHI Grant Number JP17H01768.
Keywords
- Cuboid
- Geometric shape
- Incrementally structural modeling
- Point cloud
ASJC Scopus subject areas
- Theoretical Computer Science
- General Computer Science