Journal of Korea Multimedia Society (한국멀티미디어학회논문지)

Korea Multimedia Society (한국멀티미디어학회)
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LiDAR Data Interpolation Algorithm for 3D-2D Motion Estimation

3D-2D 모션 추정을 위한 LiDAR 정보 보간 알고리즘

  • Jeon, Hyun Ho (Dept. of Mechatronics Eng., Graduate School, Chungnam National University) ;
  • Ko, Yun Ho (Dept. of Mechatronics Eng., Graduate School, Chungnam National University)
  • Received : 2017.09.04
  • Accepted : 2017.11.14
  • Published : 2017.12.31
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Abstract

The feature-based visual SLAM requires 3D positions for the extracted feature points to perform 3D-2D motion estimation. LiDAR can provide reliable and accurate 3D position information with low computational burden, while stereo camera has the problem of the impossibility of stereo matching in simple texture image region, the inaccuracy in depth value due to error contained in intrinsic and extrinsic camera parameter, and the limited number of depth value restricted by permissible stereo disparity. However, the sparsity of LiDAR data may increase the inaccuracy of motion estimation and can even lead to the result of motion estimation failure. Therefore, in this paper, we propose three interpolation methods which can be applied to interpolate sparse LiDAR data. Simulation results obtained by applying these three methods to a visual odometry algorithm demonstrates that the selective bilinear interpolation shows better performance in the view point of computation speed and accuracy.

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References

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