Stereo Parallel Tracking and Mapping for Robot Localization
Resumen: This paper describes a visual SLAM system based on stereo cameras and focused on real-time localization for mobile robots. To achieve this, it heavily exploits the parallel nature of the SLAM problem, separating the time-constrained pose estimation from less pressing matters such as map building and refinement tasks. On the other hand, the stereo setting allows to reconstruct a metric 3D map for each frame of stereo images, improving the accuracy of the mapping process with respect to monocular SLAM and avoiding the well-known bootstrapping problem. Also, the real scale of the environment is an essential feature for robots which have to interact with their surrounding workspace. A series of experiments, on-line on a robot as well as off-line with public datasets, are performed to validate the accuracy and real-time performance of the developed method.
Idioma: Inglés
DOI: 10.1109/IROS.2015.7353546
Año: 2015
Publicado en: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems 2015 (2015), [6 pp.]
ISSN: 2153-0858

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Tipo y forma: Article (PostPrint)
Área (Departamento): Ingeniería de Sistemas y Automática (Departamento de Informática e Ingeniería de Sistemas)

Rights Reserved All rights reserved by journal editor


Exportado de SIDERAL (2016-01-12-09:57:47)

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Articles > Artículos por área > Ingeniería de Sistemas y Automática



 Record created 2016-01-12, last modified 2016-10-06


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