Using Publicly Available Building Data to Improve 3D Map
Ładowanie...
Data
2023
Tytuł czasopisma
ISSN czasopisma
Tytuł tomu
Wydawca
Wydawnictwo Politechniki Łódzkiej
Lodz University of Technology Press
Lodz University of Technology Press
Abstrakt
In this paper, we address the problem of 3D Map accuracy. No
access to RTK GPS or LIDAR leads to poor accuracy of the map. High-rise
buildings cause even greater trajectory errors. We used artificial intelligence
methods to integrate publicly available building data and show that
it can improve map accuracy from monocular camera and inaccurate GPS
receiver. The main novelty is a method of building elevation detection in
sparse point cloud data. We match detected elevations with building data
and use modified bundle-adjustment algorithm to improve the map. We show
that proposed approach decreases the trajectory error.
Opis
Słowa kluczowe
SLAM, 3D map, building elevation detection, SLAM, mapa 3D, wykrywanie wysokości budynków
Cytowanie
Krygiel K., Majek K., Będkowski J., Using Publicly Available Building Data to Improve 3D Map. W: Progress in Polish Artificial Intelligence Research 4, Wojciechowski A. (Ed.), Lipiński P. (Ed.)., Seria: Monografie Politechniki Łódzkiej Nr. 2437, Wydawnictwo Politechniki Łódzkiej, Łódź 2023, s. 459-464, ISBN 978-83-66741-92-8, doi: 10.34658/9788366741928.73.