Reconstruction of Three-Dimensional Maps Based on Closed-Form Solutions of the Variational Problem of Multisensor Data Registration
- Autores: Vokhmintcev A.1,2, Melnikov A.1,2, Mironov K.3,4, Burlutskiy V.2
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Afiliações:
- Chelyabinsk State University
- Yugra State University
- Ural Federal University
- Ufa State Aviation Technical University
- Edição: Volume 99, Nº 1 (2019)
- Páginas: 108-112
- Seção: Computer Sciences
- URL: https://journals.rcsi.science/1064-5624/article/view/225634
- DOI: https://doi.org/10.1134/S1064562419010290
- ID: 225634
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Resumo
A closed-form solution is proposed for the problem of minimizing a functional consisting of two terms measuring mean-square distances for visually associated characteristic points on an image and mean-square distances for point clouds in terms of a point-to-plane metric. An accurate method for reconstructing three-dimensional dynamic environment is presented, and the properties of closed-form solutions are described. The proposed approach improves the accuracy and convergence of reconstruction methods for complex and large-scale scenes.
Sobre autores
A. Vokhmintcev
Chelyabinsk State University; Yugra State University
Autor responsável pela correspondência
Email: vav@csu.ru
Rússia, Chelyabinsk, 454001; Khanty-Mansiysk, Khanty-Mansi Autonomous Okrug (Yugra),Tyumen oblast, 628012
A. Melnikov
Chelyabinsk State University; Yugra State University
Autor responsável pela correspondência
Email: melnikovav@uriit.ru
Rússia, Chelyabinsk, 454001; Khanty-Mansiysk, Khanty-Mansi Autonomous Okrug (Yugra),Tyumen oblast, 628012
K. Mironov
Ural Federal University; Ufa State Aviation Technical University
Autor responsável pela correspondência
Email: mironov.kv@net.ugatu.su
Rússia, Yekaterinburg, 620075; Ufa, Republic of Bashkortostan , 450008
V. Burlutskiy
Yugra State University
Autor responsável pela correspondência
Email: burlutskyvv@uriit.ru
Rússia, Khanty-Mansiysk, Khanty-Mansi Autonomous Okrug (Yugra),Tyumen oblast, 628012