000036753 001__ 36753 000036753 005__ 20210121114446.0 000036753 0247_ $$2doi$$a10.1109/IROS.2015.7353546 000036753 0248_ $$2sideral$$a92154 000036753 037__ $$aART-2015-92154 000036753 041__ $$aeng 000036753 100__ $$aPire, Taihú 000036753 245__ $$aStereo Parallel Tracking and Mapping for Robot Localization 000036753 260__ $$c2015 000036753 5060_ $$aAccess copy available to the general public$$fUnrestricted 000036753 5203_ $$aThis 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. 000036753 540__ $$9info:eu-repo/semantics/openAccess$$aAll rights reserved$$uhttp://www.europeana.eu/rights/rr-f/ 000036753 592__ $$a0.843$$b2015 000036753 593__ $$aComputer Science Applications$$c2015 000036753 593__ $$aSoftware$$c2015 000036753 593__ $$aControl and Systems Engineering$$c2015 000036753 593__ $$aComputer Vision and Pattern Recognition$$c2015 000036753 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/acceptedVersion 000036753 700__ $$aFischer, Thomas 000036753 700__ $$0(orcid)0000-0003-1368-1151$$aCivera Sancho, Javier$$uUniversidad de Zaragoza 000036753 700__ $$ade Cristóforis, Pablo 000036753 700__ $$aJacobo Berlles, Julio César 000036753 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát. 000036753 773__ $$g2015 (2015), [6 pp.]$$pProc. IEEE/RSJ Int. Conf. Intell. Rob. Syst.$$tProceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems$$x2153-0858 000036753 8564_ $$s834080$$uhttps://zaguan.unizar.es/record/36753/files/texto_completo.pdf$$yPostprint 000036753 8564_ $$s130236$$uhttps://zaguan.unizar.es/record/36753/files/texto_completo.jpg?subformat=icon$$xicon$$yPostprint 000036753 909CO $$ooai:zaguan.unizar.es:36753$$particulos$$pdriver 000036753 951__ $$a2021-01-21-10:43:05 000036753 980__ $$aARTICLE