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- W2584394073 abstract "In this work we address the problem of 3D mapping of environments with large textureless regions, which generates sparse 3D maps that may not represent well the mapped scene. To deal with this problem, we propose to enhance sparse 3D maps by using a superpixel-based segmentation with the aim of generating denser 3D maps of the scene in real time. This can be exploited in virtual reality applications where rapid generation of 3D maps may be required. Superpixels are middle-level features, which represent a homogeneous regions in an image, that can be connected in order to segment untextured areas. Based on this, we propose a GPU architecture for: i) superpixel extraction considering chromatic information, ii) superpixel-based segmentation, generation of connectivity matrix to compute the connected components algorithm and iii) mapping of segmented regions to 3D points. We use the ORBSLAM system [11] to generate a sparse 3D map and to project the untextured segments onto it at 25 fps. We assessed our approach in terms of the segmentation and map quality. Regarding the latter, covered area by the generated map, depth accuracy and computational performance are reported." @default.
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- W2584394073 date "2016-09-01" @default.
- W2584394073 modified "2023-09-25" @default.
- W2584394073 title "Enhancing 3D Mapping via Real-Time Superpixel-based Segmentation" @default.
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- W2584394073 doi "https://doi.org/10.1109/ismar-adjunct.2016.0048" @default.
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