A plane-based localization scheme using RGB-D sensor for the Manhattan World assumption

doi:10.3969/j.issn.1000-5641.2019.06.010

Abstract

Abstract: Using the Manhattan World assumption with plane-based indoor localization, an indoor positioning scheme based on plane features in RGB-D vision is proposed, which can be used to extend SLAM (Simultaneous Localization and Mapping) systems. A matching process based on the main direction of the Manhattan Frame is designed to reduce the exponentially increasing time consumed. Simplified localization with 4 degrees of freedom is adopted after the initial pose determination for the problem of low efficiency during exploration. Small subgraphs in each frame are merged into one subgraph for matching to reduce the time consumed for repetitive subgraph matching. The proposed scheme not only effectively increases the success rate of scene matching, but also simplifies positioning in unknown scenes and improves positioning efficiency. Experimental results show that the method can achieve successful localization with shorter path lengths and reduce computational cost for real-time applications.

Key words: localization, SLAM (Simultaneous Localization and Mapping), Manhattan World assumption

CLC Number:

TP399

JIANG Yu-hao, CHEN Lei. A plane-based localization scheme using RGB-D sensor for the Manhattan World assumption[J]. Journal of East China Normal University(Natural Sc, 2019, 2019(6): 103-114.

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