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Real-time monocular 3D perception with ORB-Features

Babing Ji (Shanghai Jiao Tong University, Shanghai, China)
Qixin Cao (Shanghai Jiao Tong University, Shanghai, China)

Industrial Robot

ISSN: 0143-991x

Article publication date: 3 December 2018

Issue publication date: 7 December 2018

163

Abstract

Purpose

This paper aims to propose a new solution for real-time 3D perception with monocular camera. Most of the industrial robots’ solutions use active sensors to acquire 3D structure information, which limit their applications to indoor scenarios. By only using monocular camera, some state of art method provides up-to-scale 3D structure information, but scale information of corresponding objects is uncertain.

Design/methodology/approach

First, high-accuracy and scale-informed camera pose and sparse 3D map are provided by leveraging ORB-SLAM and marker. Second, for each frame captured by a camera, a specially designed depth estimation pipeline is used to compute corresponding 3D structure called depth map in real-time. Finally, depth map is integrated into volumetric scene model. A feedback module has been designed for users to visualize intermediate scene surface in real-time.

Findings

The system provides more robust tracking performance and compelling results. The implementation runs near 25 Hz on mainstream laptop based on parallel computation technique.

Originality/value

A new solution for 3D perception is using monocular camera by leveraging ORB-SLAM systems. Results in our system are visually comparable to active sensor systems such as elastic fusion in small scenes. The system is also both efficient and easy to implement, and algorithms and specific configurations involved are introduced in detail.

Keywords

Acknowledgements

The authors thank researchers in China Mobile Research Institute. This work is supported by the Ministry of Education of China and China Mobile Communication Corporations under Project MCM20160313.

Citation

Ji, B. and Cao, Q. (2020), "Real-time monocular 3D perception with ORB-Features", Industrial Robot, Vol. 45 No. 6, pp. 776-783. https://doi.org/10.1108/IR-06-2018-0115

Publisher

:

Emerald Publishing Limited

Copyright © 2018, Emerald Publishing Limited

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