On the representation and estimation of spatial uncertainly
International Journal of Robotics Research
Directed Sonar Sensing for Mobile Robot Navigation
Directed Sonar Sensing for Mobile Robot Navigation
FastSLAM: a factored solution to the simultaneous localization and mapping problem
Eighteenth national conference on Artificial intelligence
An Efficient Solution to the Five-Point Relative Pose Problem
IEEE Transactions on Pattern Analysis and Machine Intelligence
MonoSLAM: Real-Time Single Camera SLAM
IEEE Transactions on Pattern Analysis and Machine Intelligence
Parallel Tracking and Mapping for Small AR Workspaces
ISMAR '07 Proceedings of the 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality
Real-time and robust monocular SLAM using predictive multi-resolution descriptors
ISVC'06 Proceedings of the Second international conference on Advances in Visual Computing - Volume Part II
Machine learning for high-speed corner detection
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part I
Exactly Sparse Delayed-State Filters for View-Based SLAM
IEEE Transactions on Robotics
Vast-scale Outdoor Navigation Using Adaptive Relative Bundle Adjustment
International Journal of Robotics Research
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A successful approach in the recovery of video-rate structure from motion is to allow the camera to keep track of its position in every frame assuming the recovered set of scene landmarks is fixed in 3D, and then to use the poses in a subset of separated frames, or keyframes, to initialise further landmark structure. The landmark structure and keyframe poses are optimised in a bundle adjustment. Unfortunately this monolithic bundle adjustment has cubic complexity. This paper shows how representing landmarks and camera poses in relative frames, and by temporarily removing certain measurements, introduces a conditional indepedence which allows the bundle adjustment to be split into two parts. One "local" part involves the most recent keyframes and associated landmarks, and runs in constant time. The other "global" part deals with older keyframes and structure, and runs, as ever, in cubic time. Three important outcomes are: (i) the fixed-time local adjustment allows exploratory map-building to keep pace with camera pose tracking; (ii) it produces statistically consistent results; and (iii) referencing to relative frames means that any update in positions from the global adjustment are immediately incorporated in the local fixed-time adjustment. The relative frame approach is applied to the parallel tracking and mapping method for structure from motion, and its results shown to be identical, and the exploratory map building phase shown to maintain fixed time performance.