Vision-based SLAM: Achievement of a Practical Algorithm

In the classic EKF SLAM framework, the vision based approaches raise the problem of landmark initialization. As a single observation is not enough to compute a gaussian state estimate, a special initialisation algorithm must be developed. This video presents our approach with a step by step simulati...

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Bibliographic Details
Published in2006 IEEE/RSJ International Conference on Intelligent Robots and Systems p. 8
Main Authors Lemaire, Thomas, Lacroix, Simon
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2006
Subjects
Biological systems
Computational modeling
Computer architecture
Image recognition
Inspection
Mathematical model
Robots
Robustness
Simultaneous localization and mapping
Software algorithms
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Summary:In the classic EKF SLAM framework, the vision based approaches raise the problem of landmark initialization. As a single observation is not enough to compute a gaussian state estimate, a special initialisation algorithm must be developed. This video presents our approach with a step by step simulation, then a more complex simulation is proposed. The last part gathers results obtained on real data.
ISBN:9781424402588
1424402581
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2006.282301