{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,2]],"date-time":"2025-08-02T17:23:09Z","timestamp":1754155389849,"version":"3.41.2"},"reference-count":17,"publisher":"Emerald","issue":"6","license":[{"start":{"date-parts":[[2018,12,3]],"date-time":"2018-12-03T00:00:00Z","timestamp":1543795200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2018,12,7]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>This paper aims to propose a new solution for real-time 3D perception with monocular camera. Most of the industrial robots\u2019 solutions use active sensors to acquire 3D structure information, which limit their applications to indoor scenarios. By only using monocular camera, some state of art method provides up-to-scale 3D structure information, but scale information of corresponding objects is uncertain.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>First, high-accuracy and scale-informed camera pose and sparse 3D map are provided by leveraging ORB-SLAM and marker. Second, for each frame captured by a camera, a specially designed depth estimation pipeline is used to compute corresponding 3D structure called depth map in real-time. Finally, depth map is integrated into volumetric scene model. A feedback module has been designed for users to visualize intermediate scene surface in real-time.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>The system provides more robust tracking performance and compelling results. The implementation runs near 25 Hz on mainstream laptop based on parallel computation technique.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>A new solution for 3D perception is using monocular camera by leveraging ORB-SLAM systems. Results in our system are visually comparable to active sensor systems such as elastic fusion in small scenes. The system is also both efficient and easy to implement, and algorithms and specific configurations involved are introduced in detail.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-06-2018-0115","type":"journal-article","created":{"date-parts":[[2018,12,3]],"date-time":"2018-12-03T03:22:15Z","timestamp":1543807335000},"page":"776-783","source":"Crossref","is-referenced-by-count":2,"title":["Real-time monocular 3D perception with ORB-Features"],"prefix":"10.1108","volume":"45","author":[{"given":"Babing","family":"Ji","sequence":"first","affiliation":[]},{"given":"Qixin","family":"Cao","sequence":"additional","affiliation":[]}],"member":"140","published-online":{"date-parts":[[2018,12,3]]},"reference":[{"key":"key2022112510133997400_ref001","first-page":"404","article-title":"SURF: Speeded up robust features","volume-title":"European Conference on Computer Vision (ECCV)","year":"2006"},{"key":"key2022112510133997400_ref002","first-page":"14.1","article-title":"PatchMatch Stereo - Stereo matching with slanted support windows","volume-title":"British Machine Vision Conference (BMVC)","year":"2011"},{"key":"key2022112510133997400_ref003","first-page":"303","article-title":"A volumetric method for building complex models from range images","volume-title":"ACM Conference on Computer Graphics and Interactive Techniques","year":"1996"},{"key":"key2022112510133997400_ref004","first-page":"15","article-title":"SVO: fast semi-direct monocular visual odometry","volume-title":"IEEE International Conference on Robotics and Automation (ICRA)","year":"2014"},{"issue":"2","key":"key2022112510133997400_ref005","doi-asserted-by":"crossref","first-page":"246","DOI":"10.1109\/TIM.2017.2764298","article-title":"Multimodal measurements fusion for surface material categorization","volume":"67","year":"2018","journal-title":"IEEE Transactions on Instrumentation and Measurement"},{"key":"key2022112510133997400_ref006","first-page":"163","article-title":"Marching cubes: a high resolution 3D surface construction algorithm","volume-title":"ACM Conference on Computer Graphics and Interactive Techniques","year":"1987"},{"issue":"5","key":"key2022112510133997400_ref007","first-page":"1147","article-title":"Orb-slam: a versatile and accurate monocular slam system","volume":"31","year":"2017","journal-title":"IEEE Transactions on Robotics"},{"key":"key2022112510133997400_ref008","first-page":"2320","article-title":"DTAM: dense tracking and mapping in real-time","volume-title":"IEEE International Conference on Computer Vision (ICCV)","year":"2011"},{"key":"key2022112510133997400_ref009","first-page":"2609","article-title":"REMODE: probabilistic, monocular dense reconstruction in real time","volume-title":"IEEE Int. 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