Monocular Vision Based SLAM for Mobile Robots

Authors:
E. Mouragnon;Maxime Lhuillier;M. Dhome;F. Dekeyser;P. Sayd
Affiliations:
Universite Blaise Pascal/CNRS, 63177 Aubiere Cedex, France;Universite Blaise Pascal/CNRS, 63177 Aubiere Cedex, France;Universite Blaise Pascal/CNRS, 63177 Aubiere Cedex, France;Universite Blaise Pascal/CNRS, 63177 Aubiere Cedex, France;Universite Blaise Pascal/CNRS, 63177 Aubiere Cedex, France
Venue:
ICPR '06 Proceedings of the 18th International Conference on Pattern Recognition - Volume 03
Year:
2006

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Abstract

This paper describes a new vision based method for the Simultaneous Localization and Mapping of mobile robots. The only data used is a video input from a moving calibrated monocular camera. From the detection and matching of interest points in images at video rate, robust estimates of the camera poses are computed in real-time and a 3D map of the environment is reconstructed. The computed 3D structure is constantly refined thanks to the introduction of a fast and local bundle adjustment method that makes this approach particularly accurate and reliable. Actually, this method can be seen as a new visual tool that may be used in conjunction with usual systems (GPS, inertia sensors, etc) in SLAM applications.