Stereo Parallel Tracking and Mapping for Robot Localization

Pire, Taihú ; Fischer, Thomas ; Civera Sancho, Javier (Universidad de Zaragoza) ; de Cristóforis, Pablo ; Jacobo Berlles, Julio César

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

Factor impacto SCIMAGO: 0.843 - Computer Science Applications - Software - Control and Systems Engineering - Computer Vision and Pattern Recognition

Tipo y forma: Article (PostPrint)

Área (Departamento): Área Ingen.Sistemas y Automát. (Dpto. Informát.Ingenie.Sistms.)