360度カメラを用いたLSD-SLAMシステムにおけるカメラトラッキング精度の向上

抄録

Recently, SLAM (Simultaneous Localization and Mapping) becomes a hot research topic in computer vision due to high demand to reconstruct surrounding environment with camera mounted on drone, etc. In SLAM system, Direct SLAM system has reported that it can achieve high 3D reconstruction environment since it utilizes the information of all pixels in images. In addition, to create accurate 3D reconstruction environment, SLAM system requires high camera tracking performance. Fortunately, to achieve this, it is well-known that a camera with wider field of view can help the performance improvement. From this fact, in this paper, we propose a new Direct SLAM system with 360-degree camera, which has two fish-eye lens and can capture front and back view scene. The characteristic points of our proposed method is that 1) we utilize LSD-SLAM system, which is a Direct SLAM one, since it can achieve faster 3D reconstruction compared with other SLAM systems, 2) we integrate the information of two camera coordinates to achieve high camera tracking accuracy, 3) we cover the frame-in/frame-out information by seamlessly taking over the camera tracking information from a fish-eye camera system to another one. From the experimental results with CG simulation, we achieved higher camera tracking accuracy with 360-degree camera compared to that with a fish-eye camera.