000 | 03308nam a22005415i 4500 | ||
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001 | 978-3-642-36418-1 | ||
003 | DE-He213 | ||
005 | 20200421112227.0 | ||
007 | cr nn 008mamaa | ||
008 | 130220s2013 gw | s |||| 0|eng d | ||
020 |
_a9783642364181 _9978-3-642-36418-1 |
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024 | 7 |
_a10.1007/978-3-642-36418-1 _2doi |
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050 | 4 | _aTJ210.2-211.495 | |
050 | 4 | _aT59.5 | |
072 | 7 |
_aTJFM1 _2bicssc |
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072 | 7 |
_aTEC037000 _2bisacsh |
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072 | 7 |
_aTEC004000 _2bisacsh |
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082 | 0 | 4 |
_a629.892 _223 |
100 | 1 |
_aNicosevici, Tudor. _eauthor. |
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245 | 1 | 0 |
_aEfficient 3D Scene Modeling and Mosaicing _h[electronic resource] / _cby Tudor Nicosevici, Rafael Garcia. |
264 | 1 |
_aBerlin, Heidelberg : _bSpringer Berlin Heidelberg : _bImprint: Springer, _c2013. |
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300 |
_aXXII, 161 p. 97 illus., 76 illus. in color. _bonline resource. |
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336 |
_atext _btxt _2rdacontent |
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337 |
_acomputer _bc _2rdamedia |
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338 |
_aonline resource _bcr _2rdacarrier |
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347 |
_atext file _bPDF _2rda |
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490 | 1 |
_aSpringer Tracts in Advanced Robotics, _x1610-7438 ; _v87 |
|
505 | 0 | _aIntroduction -- Literature Review -- Direct Structure from Motion -- Online Loop Detection -- Online 3D Model Simplification -- Conclusions. | |
520 | _aThis book proposes a complete pipeline for monocular (single camera) based 3D mapping of terrestrial and underwater environments. The aim is to provide a solution to large-scale scene modeling that is both accurate and efficient. To this end, we have developed a novel Structure from Motion algorithm that increases mapping accuracy by registering camera views directly with the maps. The camera registration uses a dual approach that adapts to the type of environment being mapped. In order to further increase the accuracy of the resulting maps, a new method is presented, allowing detection of images corresponding to the same scene region (crossovers). Crossovers then used in conjunction with global alignment methods in order to highly reduce estimation errors, especially when mapping large areas. Our method is based on Visual Bag of Words paradigm (BoW), offering a more efficient and simpler solution by eliminating the training stage, generally required by state of the art BoW algorithms. Also, towards developing methods for efficient mapping of large areas (especially with costs related to map storage, transmission and rendering in mind), an online 3D model simplification algorithm is proposed. This new algorithm presents the advantage of selecting only those vertices that are geometrically representative for the scene. | ||
650 | 0 | _aEngineering. | |
650 | 0 | _aArtificial intelligence. | |
650 | 0 | _aImage processing. | |
650 | 0 | _aRobotics. | |
650 | 0 | _aAutomation. | |
650 | 1 | 4 | _aEngineering. |
650 | 2 | 4 | _aRobotics and Automation. |
650 | 2 | 4 | _aArtificial Intelligence (incl. Robotics). |
650 | 2 | 4 | _aImage Processing and Computer Vision. |
700 | 1 |
_aGarcia, Rafael. _eauthor. |
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710 | 2 | _aSpringerLink (Online service) | |
773 | 0 | _tSpringer eBooks | |
776 | 0 | 8 |
_iPrinted edition: _z9783642364174 |
830 | 0 |
_aSpringer Tracts in Advanced Robotics, _x1610-7438 ; _v87 |
|
856 | 4 | 0 | _uhttp://dx.doi.org/10.1007/978-3-642-36418-1 |
912 | _aZDB-2-ENG | ||
942 | _cEBK | ||
999 |
_c57722 _d57722 |