Email this article Reconstruction of three-dimensional maps based on closed-form solutions of the variational problem of multisensor data registration
- Authors: Vokhmintcev A.V.1,2, Melnikov A.V.1,2, Mironov K.V.3,4, Burlutskiy V.V.2
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Affiliations:
- Chelyabinsk State University
- Institution of Higher Education Yugra State University
- Ural Federal University named after the first President of Russia B. N. Yeltsin
- Ufa State Aviation Technical University
- Issue: Vol 484, No 6 (2019)
- Pages: 672-677
- Section: Informatics
- URL: https://journals.eco-vector.com/0869-5652/article/view/12822
- DOI: https://doi.org/10.31857/S0869-56524846672-677
- ID: 12822
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Abstract
A closed-form solution is proposed for the problem of minimizing a functional consisting of two terms measuring mean-square distances for visually associated characteristic points on an image and meansquare distances for point clouds in terms of a point-to-plane metric. An accurate method for reconstructing three-dimensional dynamic environment is presented, and the properties of closed-form solutions are described. The proposed approach improves the accuracy and convergence of reconstruction methods for complex and large-scale scenes.
About the authors
A. V. Vokhmintcev
Chelyabinsk State University; Institution of Higher Education Yugra State University
Author for correspondence.
Email: vav@csu.ru
Russian Federation, 129, Br.Kashirinykh street, Chelyabinsk, 454001; 16, Chekhova str., Khanty-Mansiysk, Khanty Mansiysk Autonomous okrug Yugra, Tyumen region, 628012
A. V. Melnikov
Chelyabinsk State University; Institution of Higher Education Yugra State University
Email: melnikovav@uriit.ru
Russian Federation, 129, Br.Kashirinykh street, Chelyabinsk, 454001; 16, Chekhova str., Khanty-Mansiysk, Khanty Mansiysk Autonomous okrug Yugra, Tyumen region, 628012
K. V. Mironov
Ural Federal University named after the first President of Russia B. N. Yeltsin; Ufa State Aviation Technical University
Email: mironov.kv@net.ugatu.su
Russian Federation, 51, Lenina ave., r. 262, Ekaterinburg, 620000; 12, Karl Marx str., Ufa, 450008
V. V. Burlutskiy
Institution of Higher Education Yugra State University
Email: burlutskyvv@uriit.ru
Russian Federation, 16, Chekhova str., Khanty-Mansiysk, Khanty Mansiysk Autonomous okrug Yugra, Tyumen region, 628012
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