MonoSLAM: Real-Time Single Camera SLAM
IEEE Transactions on Pattern Analysis and Machine Intelligence
Drift-Free Real-Time Sequential Mosaicing
International Journal of Computer Vision
Particle Filter SLAM with High Dimensional Vehicle Model
Journal of Intelligent and Robotic Systems
Stereo vision specific models for particle filter-based SLAM
Robotics and Autonomous Systems
Camera self-calibration for sequential Bayesian structure from motion
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Selecting good corners for structure and motion recovery using a time-of-flight camera
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Fast pose estimation for visual navigation using homographies
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
1-point RANSAC for EKF-based structure from motion
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Undelayed initialization of line segments in monocular SLAM
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Performance evaluation of visual SLAM using several feature extractors
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Conditional localization and mapping using stereo camera
PRICAI'10 Proceedings of the 11th Pacific Rim international conference on Trends in artificial intelligence
On optimal dynamic sequential search for matching in real- time machine vision
IEEE Transactions on Image Processing
The visual SLAM system for a hexapod robot
ICCVG'10 Proceedings of the 2010 international conference on Computer vision and graphics: Part II
Distributed multi-camera visual mapping using topological maps of planar regions
Pattern Recognition
Robotics and Autonomous Systems
Large scale multiple robot visual mapping with heterogeneous landmarks in semi-structured terrain
Robotics and Autonomous Systems
Mobile Augmented Reality: A topometric system for wide area augmented reality
Computers and Graphics
Visual-inertial motion priors for robust monocular SLAM
TAROS'11 Proceedings of the 12th Annual conference on Towards autonomous robotic systems
Towards realtime handheld MonoSLAM in dynamic environments
ISVC'11 Proceedings of the 7th international conference on Advances in visual computing - Volume Part I
Visual simultaneous localisation and map-building supported by structured landmarks
International Journal of Applied Mathematics and Computer Science
LESS-mapping: Online environment segmentation based on spectral mapping
Robotics and Autonomous Systems
Visual SLAM Based on Rigid-Body 3D Landmarks
Journal of Intelligent and Robotic Systems
SLAM and navigation in indoor environments
PSIVT'11 Proceedings of the 5th Pacific Rim conference on Advances in Image and Video Technology - Volume Part I
Editors Choice Article: Visual SLAM: Why filter?
Image and Vision Computing
Monocular SLAM with undelayed initialization for an indoor robot
Robotics and Autonomous Systems
Impact of Landmark Parametrization on Monocular EKF-SLAM with Points and Lines
International Journal of Computer Vision
ACIVS'12 Proceedings of the 14th international conference on Advanced Concepts for Intelligent Vision Systems
3D reconstruction of non-rigid surfaces in real-time using wedge elements
ECCV'12 Proceedings of the 12th international conference on Computer Vision - Volume Part I
Monocular depth from motion using a new closed-form solution
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part III
Fast template matching of objects for visual SLAM
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part III
Spatio-temporal feature-based keyframe detection from video shots using spectral clustering
Pattern Recognition Letters
A novel loop closure detection method in monocular SLAM
Intelligent Service Robotics
Jointly compatible pair linking for visual tracking with probabilistic priors
ACSC '11 Proceedings of the Thirty-Fourth Australasian Computer Science Conference - Volume 113
3D attention: measurement of visual saliency using eye tracking glasses
CHI '13 Extended Abstracts on Human Factors in Computing Systems
High-precision, consistent EKF-based visual-inertial odometry
International Journal of Robotics Research
Scaled monocular SLAM for walking people
Proceedings of the 2013 International Symposium on Wearable Computers
Geometric particle swarm optimization for robust visual ego-motion estimation via particle filtering
Image and Vision Computing
Observability-based local path planning and obstacle avoidance using bearing-only measurements
Robotics and Autonomous Systems
Bearing-only visual SLAM for small unmanned aerial vehicles in GPS-denied environments
International Journal of Automation and Computing
A comparison of EKF and SGD applied to a view-based SLAM approach with omnidirectional images
Robotics and Autonomous Systems
Monocular Visual Mapping for Obstacle Avoidance on UAVs
Journal of Intelligent and Robotic Systems
Hi-index | 0.00 |
We present a new parametrization for point features within monocular simultaneous localization and mapping (SLAM) that permits efficient and accurate representation of uncertainty during undelayed initialization and beyond, all within the standard extended Kalman filter (EKF). The key concept is direct parametrization of the inverse depth of features relative to the camera locations from which they were first viewed, which produces measurement equations with a high degree of linearity. Importantly, our parametrization can cope with features over a huge range of depths, even those that are so far from the camera that they present little parallax during motion---maintaining sufficient representative uncertainty that these points retain the opportunity to "come in'' smoothly from infinity if the camera makes larger movements. Feature initialization is undelayed in the sense that even distant features are immediately used to improve camera motion estimates, acting initially as bearing references but not permanently labeled as such. The inverse depth parametrization remains well behaved for features at all stages of SLAM processing, but has the drawback in computational terms that each point is represented by a 6-D state vector as opposed to the standard three of a Euclidean XYZ representation. We show that once the depth estimate of a feature is sufficiently accurate, its representation can safely be converted to the Euclidean XYZ form, and propose a linearity index that allows automatic detection and conversion to maintain maximum efficiency---only low parallax features need be maintained in inverse depth form for long periods. We present a real-time implementation at 30 Hz, where the parametrization is validated in a fully automatic 3-D SLAM system featuring a handheld single camera with no additional sensing. Experiments show robust operation in challenging indoor and outdoor environments with a very large ranges of scene depth, varied motion, and als- - o real time 360deg loop closing.