doi:10.1109/IROS.2015.7353546engPire, TaihúFischer, ThomasCivera Sancho, Javierde Cristóforis, PabloJacobo Berlles, Julio CésarStereo Parallel Tracking and Mapping for Robot LocalizationART-2015-92154This 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.2015http://zaguan.unizar.es/record/3675310.1109/IROS.2015.7353546http://zaguan.unizar.es/record/36753oai:zaguan.unizar.es:36753Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems 2015 (2015), [6 pp.]All rights reservedhttp://www.europeana.eu/rights/rr-f/info:eu-repo/semantics/openAccess