Real-time Manhattan World Rotation Estimation in 3D
We propose three novel algorithms to estimate the full 3D rotation to the surrounding Manhattan World (MW) in as short as 20ms using surface-normals derived from the depth channel of a RGB-D camera. Importantly, this rotation estimate acts as a structure compass which can be used to estimate the bias of an odometry system, such as an inertial measurement unit (IMU), and thus remove its angular drift.
Bibtex
@inproceedings{ straub2015rtmf,
author = {Straub, Julian and Bhandari, Nishchal and Leonard, John J. and Fisher III, John W.},
title = {Real-time Manhattan World Rotation Estimation in 3D},
year = {2015},
booktitle = {IROS},
url =
{ http://people.csail.mit.edu/jstraub/download/straub2015rtmf.pdf}
}