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Estimation and Tracking of Partial Planar Templates to Improve VSLAM

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Pattern Recognition and Image Analysis (IbPRIA 2015)

Part of the book series: Lecture Notes in Computer Science ((LNIP,volume 9117))

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Abstract

We present an algorithm that can segment and track partial planar templates, from a sequence of images taken from a moving camera. By “partial planar template”, we mean that the template is the projection of a surface patch that is only partially planar; some of the points may correspond to other surfaces. The algorithm segments each image template to identify the pixels that belong to the dominant plane, and determines the three dimensional structure of that plane. We show that our algorithm improves the accuracy of visual simultaneous localization and mapping (VSLAM), especially in scenes where surface discontinuities are common.

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Author information

Authors and Affiliations

  1. Colorado School of Mines, Golden, CO, USA

    Abdelsalam Masoud & William Hoff

Authors
  1. Abdelsalam Masoud
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  2. William Hoff
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Corresponding author

Correspondence to Abdelsalam Masoud .

Editor information

Editors and Affiliations

  1. Universitat Politècnica de València, València, Spain

    Roberto Paredes

  2. Universidade do Porto, Porto, Portugal

    Jaime S. Cardoso

  3. Universidade de Santiago de Compostela, Santiago de Compostela, Spain

    Xosé M. Pardo

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Masoud, A., Hoff, W. (2015). Estimation and Tracking of Partial Planar Templates to Improve VSLAM. In: Paredes, R., Cardoso, J., Pardo, X. (eds) Pattern Recognition and Image Analysis. IbPRIA 2015. Lecture Notes in Computer Science(), vol 9117. Springer, Cham. https://doi.org/10.1007/978-3-319-19390-8_10

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  • DOI: https://doi.org/10.1007/978-3-319-19390-8_10

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-19389-2

  • Online ISBN: 978-3-319-19390-8

  • eBook Packages: Computer ScienceComputer Science (R0)

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