Complete and Accurate Indoor Scene Capturing and Reconstruction Using a Drone and a Robot

doi:10.1109/JSEN.2020.3024702

CORC > 自动化研究所 > 中国科学院自动化研究所 > 模式识别国家重点实验室 > 机器人视觉团队

	Complete and Accurate Indoor Scene Capturing and Reconstruction Using a Drone and a Robot
	Gao, Xiang 3; Zhu, Lingjie 2,4; Cui, Hainan 2,4; Hu, Zhanyi 2,4; Liu, Hongmin 1; Shen, Shuhan 2,4
刊名	IEEE SENSORS JOURNAL
	2021-05-15
卷号	21 期号:10 页码:11858-11869
关键词	Image reconstruction Cameras Robot vision systems Drones Pipelines Robot localization Indoor scene capturing and reconstruction drone-robot cooperation aerial map construction ground robot localization ground-to-aerial image merging
ISSN号	1530-437X
DOI	10.1109/JSEN.2020.3024702
通讯作者	Liu, Hongmin(hmliu_82@163.com) ; Shen, Shuhan(shshen@nlpr.ia.ac.cn)
英文摘要	Completeness and accuracy are two important factors in image-based indoor scene 3D reconstruction. Thus, an efficient image capturing scheme that could completely cover the scene, and a robust reconstruction method that could accurately reconstruct the scene are required. To this end, in this article we propose a new pipeline for indoor scene capturing and reconstruction using a mini drone and a ground robot, which takes both capturing completeness and reconstruction accuracy into consideration. First, we use a mini drone to capture aerial video of the indoor scene, from which a 3D aerial map is reconstructed. Then, the robot moving path is planned and a set of ground-view reference images are synthesized from the aerial map. After that, the robot enters the scene and captures ground video autonomously while using the reference images to locate its position during the movement. Finally, the ground and aerial images, which are adaptively extracted from the captured videos, are merged to reconstruct a complete and accurate indoor scene model. Experimental results on two indoor scenes demonstrate the effectiveness and robustness of our proposed indoor scene capturing and reconstruction pipeline.
资助项目	National Science Foundation of China[61873265] ; National Science Foundation of China[62003319] ; National Science Foundation of China[61632003] ; National Science Foundation of China[61703397] ; Open Projects Program of National Laboratory of Pattern Recognition[202000010] ; Postdoctoral Applied Research Projects of Qingdao
WOS关键词	ENERGY MINIMIZATION ; EFFICIENT ; MOTION
WOS研究方向	Engineering ; Instruments & Instrumentation ; Physics
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000642012400062
资助机构	National Science Foundation of China ; Open Projects Program of National Laboratory of Pattern Recognition ; Postdoctoral Applied Research Projects of Qingdao
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/44551]
专题	自动化研究所_模式识别国家重点实验室_机器人视觉团队
通讯作者	Liu, Hongmin; Shen, Shuhan
作者单位	1.Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing 100083, Peoples R China 2.Chinese Acad Sci, Inst Automat, Natl Lab Pattern Recognit, Beijing 100190, Peoples R China 3.Ocean Univ China, Coll Engn, Qingdao 266100, Peoples R China 4.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
推荐引用方式 GB/T 7714	Gao, Xiang,Zhu, Lingjie,Cui, Hainan,et al. Complete and Accurate Indoor Scene Capturing and Reconstruction Using a Drone and a Robot[J]. IEEE SENSORS JOURNAL,2021,21(10):11858-11869.
APA	Gao, Xiang,Zhu, Lingjie,Cui, Hainan,Hu, Zhanyi,Liu, Hongmin,&Shen, Shuhan.(2021).Complete and Accurate Indoor Scene Capturing and Reconstruction Using a Drone and a Robot.IEEE SENSORS JOURNAL,21(10),11858-11869.
MLA	Gao, Xiang,et al."Complete and Accurate Indoor Scene Capturing and Reconstruction Using a Drone and a Robot".IEEE SENSORS JOURNAL 21.10(2021):11858-11869.