Zhang, R., Evans, M.H., Worley, R. et al. (2 more authors) (2021) Improving SLAM in pipe networks by leveraging cylindrical regularity. In: Fox, C., Gao, J., Esfahani, A.G., Saaj, M., Hanheide, M. and Parsons, S., (eds.) TAROS 2021: Towards Autonomous Robotic Systems. Towards Autonomous Robotic Systems Conference (TAROS 2021), 08-10 Sep 2021, Lincoln, UK (virtual conference). Lecture Notes in Computer Science, 13054 . Springer, Cham , pp. 56-65. ISBN 9783030891763
Abstract
Monocular visual Simultaneous Localisation and Mapping algorithms estimate map points and frame poses simultaneously based on video data. The estimated map point locations do not contain any structural information. Due to the measurement noise, the estimated trajectory is slightly different from the ground truth. This paper improves the estimation accuracy of trajectory in a pipe network by leveraging structural regularity. An optimisation-based method is used to detect a cylinder among map points in the SLAM back-end. When the cylinder is detected, the system enforces cylindrical regularity to the points from the cylindrical pipe surface, which is named cylindrical points. The estimated trajectory and map points will benefit from this structural information. This method is verified and evaluated on both synthetic data and real-world pipe video datasets.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Editors: |
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Copyright, Publisher and Additional Information: | © 2021 Springer Nature Switzerland AG. This is an author-produced version of a paper subsequently published in Fox C., Gao J., Ghalamzan Esfahani A., Saaj M., Hanheide M., Parsons S. (eds) Towards Autonomous Robotic Systems. TAROS 2021. Lecture Notes in Computer Science, vol 13054. Uploaded in accordance with the publisher's self-archiving policy. |
Keywords: | SLAM; Structural regularity; Pipe networks inspection; Structure from motion |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) |
Funding Information: | Funder Grant number Engineering and Physical Science Research Council EP/S016813/1 |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 30 Jul 2021 11:09 |
Last Modified: | 30 Nov 2021 15:34 |
Status: | Published |
Publisher: | Springer, Cham |
Series Name: | Lecture Notes in Computer Science |
Refereed: | Yes |
Identification Number: | 10.1007/978-3-030-89177-0_6 |
Related URLs: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:176666 |