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Vol. 24, Special Issue, August 2013, pp. 58-66




Real-Time 3D Path and Map Estimation Using a Multi-Camera System and a FastSLAM Algorithm
1 Chayakorn NETRAMAI, 2 Hubert ROTH, 3 Anatoly SACHENKO

1 The Sirindhorn International Thai-German Graduate School of Engineering, King Mongkut's University of Technology North Bangkok, 1518 Pracharat 1 Road, Bangsue, Bangkok, 10800, Thailand

2 Institute of Automatic Control Engineering, Department of Electrical Engineering and Computer Science, University of Siegen, Hlderlin str. 3, 57076, Siegen, Germany

3 Department of Computer Science and Econometrics, Silesian University of Technology, Roosevelta St. 26-28, Zabrze, 41-800, Poland
E-mail: chayakorn.n.sse@tggs-bangkok.org


Received: 15 May 2013   /Accepted: 16 August 2013   /Published: 30 August 2013

Digital Sensors and Sensor Sysstems


Abstract: This work proposed a real-time 3D map building system based on the visual odometry information derived from a Multi-Camera hardware. The accurate odometry information and images derived from the proposed intuitive Multi-Camera hardware, so called Multi-Camera Unit (MCU), are used as an input for the 3D map building process which cooperates the FastSLAM algorithm as a map and path estimator. Experiment results show that the proposed system yield good estimation of 3D path and map in real-time. Using the estimated 3D path and map, a showcase application of 3D photorealistic map building can be implemented with ease where it can be run on top of all process in real-time manner using a standard PC.


Keywords: Visual odometry, Multi-camera systems, 3D map building, FastSLAM.


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