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3D SLAM for Scenes with Repetitive Texture Inside Tokamak Chamber

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Intelligent Autonomous Systems 14 (IAS 2016)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 531))

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Abstract

As the intra-scene of Tokamak chamber contains many repetitive textures, the traditional 3D reconstruction method based on the feature descriptor would be difficult to work well since the image matching algorithms based on feature descriptor are unstable and may fail sometimes in this environment. To address this problem, a novel multilevel matching algorithm is proposed, which uses the structural characteristics of Tokamak chamber as prior knowledge to find reliable correspondence points between two images. Firstly, each image is divided into basic structure regions. Then, to obtain the corresponding relation of structure regions from multiple images, we take the preliminary matching on the structural framework. The feature points is matched inner the structure regions to ensure the correctness of the feature matching. To testify the effectiveness of the proposed algorithm, it is applied to repetitive texture images captured in the Tokamak chamber, and the experimental results show that more correct matching points are acquired, smooth and clear 3D point-cloud data are generated, and high accurate and integrated reconstruct results are obtained.

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Acknowledgements

This research work was supported by the China National Magnetic-Confinement Fusion Energy R&D Program (ITER) and funded by the National Science and Technology Major Project of the Ministry of Science and Technology of China (No. 2012GB102007) and the National Natural Science Foundation of China (NSFC) under Grant No. 61503361. The authors wish to thank the research group for their great contributions to the presented research. The views and opinions expressed in this paper are the sole responsibility of the authors.

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Correspondence to Zengfu Wang .

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Liu, W., Zheng, Z., Odbal, Cai, B., Wang, Z. (2017). 3D SLAM for Scenes with Repetitive Texture Inside Tokamak Chamber. In: Chen, W., Hosoda, K., Menegatti, E., Shimizu, M., Wang, H. (eds) Intelligent Autonomous Systems 14. IAS 2016. Advances in Intelligent Systems and Computing, vol 531. Springer, Cham. https://doi.org/10.1007/978-3-319-48036-7_78

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  • DOI: https://doi.org/10.1007/978-3-319-48036-7_78

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-48035-0

  • Online ISBN: 978-3-319-48036-7

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