36753 20210121114446.0 doi 10.1109/IROS.2015.7353546 sideral 92154 ART-2015-92154 eng Pire, Taihú Stereo Parallel Tracking and Mapping for Robot Localization 2015 Access copy available to the general public Unrestricted 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. info:eu-repo/semantics/openAccess All rights reserved http://www.europeana.eu/rights/rr-f/ 0.843 2015 Computer Science Applications 2015 Software 2015 Control and Systems Engineering 2015 Computer Vision and Pattern Recognition 2015 info:eu-repo/semantics/article info:eu-repo/semantics/acceptedVersion Fischer, Thomas (orcid)0000-0003-1368-1151 Civera Sancho, Javier Universidad de Zaragoza de Cristóforis, Pablo Jacobo Berlles, Julio César 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 2015 (2015), [6 pp.] Proc. IEEE/RSJ Int. Conf. Intell. Rob. Syst. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems 2153-0858 834080 http://zaguan.unizar.es/record/36753/files/texto_completo.pdf Postprint 130236 http://zaguan.unizar.es/record/36753/files/texto_completo.jpg?subformat=icon icon Postprint oai:zaguan.unizar.es:36753 articulos driver 2021-01-21-10:43:05 ARTICLE