A novel methodology for the path alignment of visual SLAM in indoor construction inspection
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A1 Alkuperäisartikkeli tieteellisessä aikakauslehdessä
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Date
2021-07
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Language
en
Pages
17
Series
Automation in Construction, Volume 127
Abstract
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.Description
Funding Information: Video materials and floor maps were provided by Aiforsite Oy, which is much appreciated. The authors gratefully acknowledge the financial support received throughout STARCLUB Project (Grant No. 324023 ) from the Academy of Finland. The authors would also like to thank National Natural Science Foundation of China (Grant No. 41972324 ) for its partial support for this research. Publisher Copyright: © 2021 Elsevier B.V. Copyright: Copyright 2021 Elsevier B.V., All rights reserved.
Keywords
2-Point Scheme, Affine transformation, Path alignment, Path distortion, Principal component analysis, Simultaneous localization and mapping
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Citation
Lu , T , Tervola , S , Lü , X , Kibert , C J , Zhang , Q , Li , T & Yao , Z 2021 , ' A novel methodology for the path alignment of visual SLAM in indoor construction inspection ' , Automation in Construction , vol. 127 , 103723 . https://doi.org/10.1016/j.autcon.2021.103723