T. Pennanen, S. Ariram, A. Tikanmäki and J. Röning, "All-Around 3D Reconstruction from Spherical Images with Semantic Segmentation," 2021 IEEE International Conference on Mechatronics and Automation (ICMA), 2021, pp. 193-199, doi: 10.1109/ICMA52036.2021.9512619
All-around 3D reconstruction from spherical images with semantic segmentation
|Author:||Pennanen, Tuulia1; Ariram, Siva1; Tikanmäki, Antti1;|
1Biomimetics and Intelligent Systems Group University of Oulu, Finland
|Online Access:||PDF Full Text (PDF, 1.1 MB)|
|Persistent link:|| http://urn.fi/urn:nbn:fi-fe2021102051686
Institute of Electrical and Electronic Engineers,
|Publish Date:|| 2021-10-20
Lightweight, affordable spherical cameras can be utilized in mobile robotics to build a 3D map of the working environment of a robot. This paper demonstrates how to use the optical flow between two spherical images to quickly construct a semantically meaningful 3D model spanning all directions. The main contribution of the paper is the use of semantic segmentation to increase the robustness of the reconstruction method in both indoor and outdoor applications.
International Conference on Industrial Mechatronics and Automation
|Pages:||193 - 199|
18th IEEE International Conference on Mechatronics and Automation, ICMA 2021
IEEE International Conference on Mechatronics and Automation
|Type of Publication:||
A4 Article in conference proceedings
|Field of Science:||
213 Electronic, automation and communications engineering, electronics
The authors would like to thank the NUVE-LAB – Developing Autonomous and Environmentally Sustainable Utility Vehicles project for the financial support.
© 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.