A novel methodology for the path alignment of visual SLAM in indoor construction inspection

Artikkeli
Osuva_Lu_Tervola_Lü_Kibert_Zhang_Li_Yao_2021.pdf - Hyväksytty kirjoittajan käsikirjoitus - 1.91 MB

Kuvaus

©2021 Elsevier. This manuscript version is made available under the Creative Commons Attribution–NonCommercial–NoDerivatives 4.0 International (CC BY–NC–ND 4.0) license, https://creativecommons.org/licenses/by-nc-nd/4.0/
Path alignment is the process of mapping an indoor construction inspection path reconstructed by a visual SLAM system onto a 2D map with user interaction required to pinpoint at least two common tie points. In practice, more points are often needed due to path distortions and linear transformations, potentially resulting in reduced productivity. This paper proposes a methodology that combines two novel algorithms for the path alignment: (1) PCA_STAN_ALGO applies principal component analysis to remove path distortions caused by the xz plane of a camera coordinate system not being parallel to the floor plane; and (2) GRPX_TRANS utilizes a graphical user interface to facilitate the path alignment. The proposed methodology enables the users to utilize just two tie points for successful path alignment. An experimental study showed that applying both PCA_STAN_ALGO and GRPX_TRANS saved about 50% in time compared to using only GRPX_TRANS, a result of needing minimal moving points.

Emojulkaisu

ISBN

ISSN

1872-7891
0926-5805

Aihealue

Kausijulkaisu

Automation in Construction|127

OKM-julkaisutyyppi

A1 Alkuperäisartikkeli tieteellisessä aikakauslehdessä