RT-SLAM: a generic and real-time visual SLAM implementation

Authors:
Cyril Roussillon;Aurélien Gonzalez;Joan Solà;Jean-Marie Codol;Nicolas Mansard;Simon Lacroix;Michel Devy
Affiliations:
CNRS, LAAS, Toulouse, France and Université de Toulouse, UPS, INSA, INP, ISAE, LAAS, Toulouse, France and Funded by the Direction Générale de l'Armement, France;CNRS, LAAS, Toulouse, France and Université de Toulouse, UPS, INSA, INP, ISAE, LAAS, Toulouse, France;CNRS, LAAS, Toulouse, France and Université de Toulouse, UPS, INSA, INP, ISAE, LAAS, Toulouse, France and Ictineu Submarins, Barcelona, Catalonia;CNRS, LAAS, Toulouse, France and Université de Toulouse, UPS, INSA, INP, ISAE, LAAS, Toulouse, France and NAV ON TIME, Toulouse, France;CNRS, LAAS, Toulouse, France and Université de Toulouse, UPS, INSA, INP, ISAE, LAAS, Toulouse, France;CNRS, LAAS, Toulouse, France and Université de Toulouse, UPS, INSA, INP, ISAE, LAAS, Toulouse, France;CNRS, LAAS, Toulouse, France and Université de Toulouse, UPS, INSA, INP, ISAE, LAAS, Toulouse, France
Venue:
ICVS'11 Proceedings of the 8th international conference on Computer vision systems
Year:
2011

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Abstract

This article presents a new open-source C++ implementation to solve the SLAM problem, which is focused on genericity, versatility and high execution speed. It is based on an original object oriented architecture, that allows the combination of numerous sensors and landmark types, and the integration of various approaches proposed in the literature. The system capacities are illustrated by the presentation of an inertial/vision SLAM approach, for which several improvements over existing methods have been introduced, and that copes with very high dynamic motions. Results with a hand-held camera are presented.