Skip to main content
We gratefully acknowledge support from the Simons Foundation, member institutions, and all contributors. Donate
arXiv logo
Cornell University Logo

Computer Science > Robotics

arXiv:2103.11311 (cs)
[Submitted on 21 Mar 2021]

Title:Semantic 3D Map Change Detection and Update based on Smartphone Visual Positioning System

Authors:Max Jwo Lem Lee, Li-Ta Hsu
View PDF
Abstract:Accurate localization and 3D maps are increasingly needed for various artificial intelligence based IoT applications such as augmented reality, intelligent transportation, crowd monitoring, robotics, etc. This article proposes a novel semantic 3D map change detection and update based on a smartphone visual positioning system (VPS) for the outdoor and indoor environments. The proposed method presents an alternate solution to SLAM for map update in terms of efficiency, cost, availability, and map reuse. Building on existing 3D maps of recent years, a system is designed to use artificial intelligence to identify high-level semantics in images for positioning and map change detection. Then, a virtual LIDAR that estimates the depth of objects in the 3D map is used to generate a compact point cloud to update changes in the scene. We present an excellent performance of localization with respect to other state-of-the-art smartphone positioning solutions to accurately update semantic 3D maps. It is shown that the proposed solution can position users within 1.9m, and update objects with an average error of 2.1m.
Comments: 12 pages, 4 figures. arXiv admin note: text overlap with arXiv:2011.10743
Subjects: Robotics (cs.RO)
Cite as: arXiv:2103.11311 [cs.RO]
  (or arXiv:2103.11311v1 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2103.11311

Submission history

From: Max Jwo Lem Lee [view email]
[v1] Sun, 21 Mar 2021 05:33:21 UTC (2,260 KB)
Full-text links:

Access Paper:

  • View PDF
  • Other Formats
view license
Current browse context:
cs.RO
< prev   |   next >
new | recent | 2021-03
Change to browse by:
cs

References & Citations

DBLP - CS Bibliography

listing | bibtex
Li-Ta Hsu
export BibTeX citation

Bookmark

BibSonomy logo Reddit logo

Bibliographic and Citation Tools

Bibliographic Explorer (What is the Explorer?)
Connected Papers (What is Connected Papers?)
Litmaps (What is Litmaps?)
scite Smart Citations (What are Smart Citations?)

Code, Data and Media Associated with this Article

alphaXiv (What is alphaXiv?)
CatalyzeX Code Finder for Papers (What is CatalyzeX?)
DagsHub (What is DagsHub?)
Gotit.pub (What is GotitPub?)
Hugging Face (What is Huggingface?)
Papers with Code (What is Papers with Code?)
ScienceCast (What is ScienceCast?)

Demos

Replicate (What is Replicate?)
Hugging Face Spaces (What is Spaces?)
TXYZ.AI (What is TXYZ.AI?)

Recommenders and Search Tools

Influence Flower (What are Influence Flowers?)
CORE Recommender (What is CORE?)

arXivLabs: experimental projects with community collaborators

arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website.

Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them.

Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs.

Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)