Incremental 3D Line Segments Extraction from Semi-dense SLAM

by   Shida He, et al.

Despite much interest in Simultaneous Localization and Mapping (SLAM), there is a lack of efficient methods for representing and processing their large scale point clouds. In this paper, we propose to simplify the point clouds generated by the semi-dense SLAM using three-dimensional (3D) line segments. Specifically, we present a novel incremental approach for 3D line segments extraction. This approach reduces a 3D line segment fitting problem into two two-dimensional (2D) line segment fitting problems, which take advantage of both image edge segments and depth maps. We first detect edge segments, which are one-pixel-width pixel chains from keyframes. We then search 3D line segments of each keyframe along their detected edge pixel chains by minimizing the fitting error on both image plane and depth plane. By incrementally clustering the detected line segments, we show that the resulting 3D representation for the scene achieves a good balance between compactness and completeness. Our experimental results show that the 3D line segments generated by our method are highly accurate in terms of the location of their end points. Additionally, we also demonstrate that these line segments greatly improve the quality of 3D surface reconstruction compared to a feature point based baseline.


page 5

page 7


PLVS: A SLAM System with Points, Lines, Volumetric Mapping, and 3D Incremental Segmentation

This document presents PLVS: a real-time system that leverages sparse SL...

Line Flow based SLAM

We propose a method of visual SLAM by predicting and updating line flows...

Surface Reconstruction from 3D Line Segments

In man-made environments such as indoor scenes, when point-based 3D reco...

Semi-Semantic Line-Cluster Assisted Monocular SLAM for Indoor Environments

This paper presents a novel method to reduce the scale drift for indoor ...

PlaneTR: Structure-Guided Transformers for 3D Plane Recovery

This paper presents a neural network built upon Transformers, namely Pla...

Line Harp: Importance-Driven Sonification for Dense Line Charts

Accessibility in visualization is an important yet challenging topic. So...

Connectivity-Enforcing Hough Transform for the Robust Extraction of Line Segments

Global voting schemes based on the Hough transform (HT) have been widely...

Please sign up or login with your details

Forgot password? Click here to reset