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Acta Optica Sinica, Volume. 38, Issue 12, 1212002(2018)

Three-Dimensional Tracking Registration Method Based on Semantic Object Matching

Zhe An1、*, Xiping Xu1、*, Jinhua Yang1, Yang Liu1, and Yuxuan Yan2
Author Affiliations
  • 1 School of Optoelectronic Engineering, Changchun University of Science and Technology, Changchun, Jilin 130022, China
  • 2 State Key Laboratory of High Power Semiconductor Lasers, Changchun University of Science and Technology, Changchun, Jilin 130022, China
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    AbstractGet PDF(in Chinese)
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    Result of semantic segmentation. (a) Semantic segmentation image; (b) point cloud retrieval result with semantic objects

    Fig. 1. Result of semantic segmentation. (a) Semantic segmentation image; (b) point cloud retrieval result with semantic objects

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    Estimated result by proposed algorithm and real trajectory

    Fig. 2. Estimated result by proposed algorithm and real trajectory

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    Error comparison among different methods. (a) Rotating along x-axis; (b) rotating along y-axis; (c) rotating along z-axis; (d) moving along x-axis; (e) moving along y-axis; (f) moving along z-axis

    Fig. 3. Error comparison among different methods. (a) Rotating along x-axis; (b) rotating along y-axis; (c) rotating along z-axis; (d) moving along x-axis; (e) moving along y-axis; (f) moving along z-axis

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    Application of proposed algorithm to AR-HUD

    Fig. 4. Application of proposed algorithm to AR-HUD

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    • Table 1. Average processing time of 3D tracking registration for each frames

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      Table 1. Average processing time of 3D tracking registration for each frames

      MethodImage preprocessingCamera pose estimationFeature point extraction and matchingSemantic information extractionCamera pose calculationRendering registrationTotal
      Method based on EKF-SLAM1.219.056.19.61.237.15
      Proposed method1.219.335.49.71.236.83
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    Zhe An, Xiping Xu, Jinhua Yang, Yang Liu, Yuxuan Yan. Three-Dimensional Tracking Registration Method Based on Semantic Object Matching[J]. Acta Optica Sinica, 2018, 38(12): 1212002

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    Paper Information

    Category: Instrumentation, Measurement and Metrology

    Received: Jun. 22, 2018

    Accepted: Jul. 25, 2018

    Published Online: May. 10, 2019

    The Author Email:

    DOI:10.3788/AOS201838.1212002

    Topics

    laser devices and laser physics
    Lasers and Laser Optics
    Laser physics
    laser manufacturing
    Instrumentation, Measurement and Metrology