Volume IV-2/W4
ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci., IV-2/W4, 407-410, 2017
https://doi.org/10.5194/isprs-annals-IV-2-W4-407-2017
© Author(s) 2017. This work is distributed under
the Creative Commons Attribution 4.0 License.
ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci., IV-2/W4, 407-410, 2017
https://doi.org/10.5194/isprs-annals-IV-2-W4-407-2017
© Author(s) 2017. This work is distributed under
the Creative Commons Attribution 4.0 License.

  14 Sep 2017

14 Sep 2017

A MAPPING METHOD OF SLAM BASED ON LOOK UP TABLE

Z. Wang, J. Li, A. Wang, and J. Wang Z. Wang et al.
  • School of Navigation and Aerospace Engineering, Information Engineering University, Zhengzhou 450000, China

Keywords: V-SLAM, 3D modelling, Indoor Mapping, Scene Reconstruction, LUT, Eight-Neighbourhood Direction

Abstract. In the last years several V-SLAM(Visual Simultaneous Localization and Mapping) approaches have appeared showing impressive reconstructions of the world. However these maps are built with far more than the required information. This limitation comes from the whole process of each key-frame. In this paper we present for the first time a mapping method based on the LOOK UP TABLE(LUT) for visual SLAM that can improve the mapping effectively. As this method relies on extracting features in each cell divided from image, it can get the pose of camera that is more representative of the whole key-frame. The tracking direction of key-frames is obtained by counting the number of parallax directions of feature points. LUT stored all mapping needs the number of cell corresponding to the tracking direction which can reduce the redundant information in the key-frame, and is more efficient to mapping. The result shows that a better map with less noise is build using less than one-third of the time. We believe that the capacity of LUT efficiently building maps makes it a good choice for the community to investigate in the scene reconstruction problems.