Creation of 3D Environmental Map using Omnidirectional Camera Images

Yuya Kato; Junichi Hara; Hiroshi Watanabe

doi:10.1109/GCCE53005.2021.9621940

Creation of 3D Environmental Map using Omnidirectional Camera Images

Yuya Kato, Junichi Hara, Hiroshi Watanabe

School of Fundamental Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

In this paper, we propose a method to create a 3D environmental map from images captured by omnidirectional camera. Conventional methods using Simultaneous Localization and Mapping (SLAM) and fisheye images have a problem that the obtained feature points are geometrically distorted. To solve this problem, we transform the images captured by the omnidirectional camera using cube mapping and apply SLAM to the video created by concatenating the transformed images. The feature points located 360 degrees around the camera are merged into a single map. Experimental results show that our method outperforms other methods in terms of the number and accuracy of the obtained point cloud.

Original language	English
Title of host publication	2021 IEEE 10th Global Conference on Consumer Electronics, GCCE 2021
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	450-453
Number of pages	4
ISBN (Electronic)	9781665436762
DOIs	https://doi.org/10.1109/GCCE53005.2021.9621940
Publication status	Published - 2021
Event	10th IEEE Global Conference on Consumer Electronics, GCCE 2021 - Kyoto, Japan Duration: 2021 Oct 12 → 2021 Oct 15

Publication series

Name	2021 IEEE 10th Global Conference on Consumer Electronics, GCCE 2021

Conference

Conference	10th IEEE Global Conference on Consumer Electronics, GCCE 2021
Country/Territory	Japan
City	Kyoto
Period	21/10/12 → 21/10/15

Keywords

3d environmental map
omnidirectional camera
slam

ASJC Scopus subject areas

Computer Science Applications
Signal Processing
Biomedical Engineering
Electrical and Electronic Engineering
Media Technology
Instrumentation

Access to Document

10.1109/GCCE53005.2021.9621940

Cite this

Kato, Y., Hara, J., & Watanabe, H. (2021). Creation of 3D Environmental Map using Omnidirectional Camera Images. In 2021 IEEE 10th Global Conference on Consumer Electronics, GCCE 2021 (pp. 450-453). (2021 IEEE 10th Global Conference on Consumer Electronics, GCCE 2021). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/GCCE53005.2021.9621940

Creation of 3D Environmental Map using Omnidirectional Camera Images. / Kato, Yuya; Hara, Junichi; Watanabe, Hiroshi.

2021 IEEE 10th Global Conference on Consumer Electronics, GCCE 2021. Institute of Electrical and Electronics Engineers Inc., 2021. p. 450-453 (2021 IEEE 10th Global Conference on Consumer Electronics, GCCE 2021).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kato, Y, Hara, J & Watanabe, H 2021, Creation of 3D Environmental Map using Omnidirectional Camera Images. in 2021 IEEE 10th Global Conference on Consumer Electronics, GCCE 2021. 2021 IEEE 10th Global Conference on Consumer Electronics, GCCE 2021, Institute of Electrical and Electronics Engineers Inc., pp. 450-453, 10th IEEE Global Conference on Consumer Electronics, GCCE 2021, Kyoto, Japan, 21/10/12. https://doi.org/10.1109/GCCE53005.2021.9621940

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abstract = "In this paper, we propose a method to create a 3D environmental map from images captured by omnidirectional camera. Conventional methods using Simultaneous Localization and Mapping (SLAM) and fisheye images have a problem that the obtained feature points are geometrically distorted. To solve this problem, we transform the images captured by the omnidirectional camera using cube mapping and apply SLAM to the video created by concatenating the transformed images. The feature points located 360 degrees around the camera are merged into a single map. Experimental results show that our method outperforms other methods in terms of the number and accuracy of the obtained point cloud.",

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doi = "10.1109/GCCE53005.2021.9621940",

language = "English",

series = "2021 IEEE 10th Global Conference on Consumer Electronics, GCCE 2021",

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AB - In this paper, we propose a method to create a 3D environmental map from images captured by omnidirectional camera. Conventional methods using Simultaneous Localization and Mapping (SLAM) and fisheye images have a problem that the obtained feature points are geometrically distorted. To solve this problem, we transform the images captured by the omnidirectional camera using cube mapping and apply SLAM to the video created by concatenating the transformed images. The feature points located 360 degrees around the camera are merged into a single map. Experimental results show that our method outperforms other methods in terms of the number and accuracy of the obtained point cloud.

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Creation of 3D Environmental Map using Omnidirectional Camera Images

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

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