Reconstruction of Three-Dimensional Maps Based on Closed-Form Solutions of the Variational Problem of Multisensor Data Registration


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详细

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.

作者简介

A. Vokhmintcev

Chelyabinsk State University; Yugra State University

编辑信件的主要联系方式.
Email: vav@csu.ru
俄罗斯联邦, Chelyabinsk, 454001; Khanty-Mansiysk, Khanty-Mansi Autonomous Okrug (Yugra),Tyumen oblast, 628012

A. Melnikov

Chelyabinsk State University; Yugra State University

编辑信件的主要联系方式.
Email: melnikovav@uriit.ru
俄罗斯联邦, Chelyabinsk, 454001; Khanty-Mansiysk, Khanty-Mansi Autonomous Okrug (Yugra),Tyumen oblast, 628012

K. Mironov

Ural Federal University; Ufa State Aviation Technical University

编辑信件的主要联系方式.
Email: mironov.kv@net.ugatu.su
俄罗斯联邦, Yekaterinburg, 620075; Ufa, Republic of Bashkortostan , 450008

V. Burlutskiy

Yugra State University

编辑信件的主要联系方式.
Email: burlutskyvv@uriit.ru
俄罗斯联邦, Khanty-Mansiysk, Khanty-Mansi Autonomous Okrug (Yugra),Tyumen oblast, 628012

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