Scaled monocular SLAM for walking people

Authors:
Daniel Gutiérrez-Gómez;J.J. Guerrero
Affiliations:
Universidad de Zaragoza, Zaragoza, Spain;Universidad de Zaragoza, Zaragoza, Spain
Venue:
Proceedings of the 2013 International Symposium on Wearable Computers
Year:
2013

Citing 4
Cited 0

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Fusion of IMU and Vision for Absolute Scale Estimation in Monocular SLAM

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Abstract

In this paper we present a full-scaled real-time monocular SLAM using only a wearable camera. Assuming that the person is walking, the perception of the head oscillatory motion in the initial visual odometry estimate allows for the computation of a dynamic scale factor for static windows of N camera poses. Improving on this method we introduce a consistency test to detect non-walking situations and propose a sliding window approach to reduce the delay in the update of the scaled trajectory. We evaluate our approach experimentally on a unscaled visual odometry estimate obtained with a wearable camera along a path of 886 m. The results show a significant improvement respect to the initial unscaled estimate with a mean relative error of 0.91% over the total trajectory length.