Point Cloud Estimation During Aerial-Aquatic Transition in Monocular Camera-Based Localization and Mapping-Reference-Cited by-同舟云学术

Point Cloud Estimation During Aerial-Aquatic Transition in Monocular Camera-Based Localization and Mapping

Published:2023-12-20 Issue:6 Volume:35 Page:1645-1654
ISSN:1883-8049
Container-title:Journal of Robotics and Mechatronics
language:en
Short-container-title:J. Robot. Mechatron.

Author:

Ratsamee Photchara¹^ORCID,Tempattarachoke Pudit²,Jirachuphun Laphonchai²,Miwa Masafumi³,Somprasong Komsoon⁴

Affiliation:

1. Faculty of Robotics and Design, Osaka Institute of Technology, 1-45 Chayamachi, Kita-ku, Osaka 530-8568, Japan

2. OZT Robotics Ltd., 64/22 Charoen Krung 42/1 Alley, Khwaeng Bang Rak, Bang Rak, Bangkok 10500, Thailand

3. Graduate School of Engineering, Tokushima University, 2-1 Minamijosanjima-cho, Tokushima 770-8506, Japan

4. Graduate School of Engineering, Chiang Mai University, Khelang 4 Alley, Suthep, Mueang Chiang Mai District, Chiang Mai 50200, Thailand

Abstract

This paper presents a multi-box interpolation method to estimate point clouds during aerial-aquatic transition. Our proposed method is developed based on an investigation of noise characteristics of aerial point clouds and aquatic point clouds. To evaluate the performance of realistic point cloud estimation, we compare the interpolation method with the Gaussian mixture method. We also investigate how single-box and multi-box approaches deal with noise in point cloud estimation. The simulation and the experimental results show that the estimated point cloud is accurate even when the aerial and aquatic point clouds contain noise. Also, the multi-box concept helps the algorithm to avoid taking unwanted noise into consideration when predicting point clouds.

Funder

Japan Society for the Promotion of Science

Mohamed Bin Zayed International Robotics Challenge

Publisher

Fuji Technology Press Ltd.

Subject

Electrical and Electronic Engineering,General Computer Science

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