Fast Odometry Integration in Local Bundle Adjustment-based Visual SLAM - Université Clermont Auvergne Accéder directement au contenu
Communication Dans Un Congrès Année : 2010

Fast Odometry Integration in Local Bundle Adjustment-based Visual SLAM

Résumé

The Simultaneous Localisation And Mapping (SLAM) for a camera moving in a scene is a long term research problem. Here we improve a recent visual SLAM which applies Local Bundle Adjustments (LBA) on selected key-frames of a video: we show how to correct the scale drift observed in long monocular video sequence using an additional odometry sensor. Our method and results are interesting for several reasons: (1) the pose accuracy is improved on real examples (2) we do not sacrifice the consistency between the reconstructed 3D points and image features to fit odometry data (3) the modification of the original visual SLAM method is not difficult.
Fichier principal
Vignette du fichier
pIcpr10.pdf (815.96 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-01635629 , version 1 (15-11-2017)

Identifiants

  • HAL Id : hal-01635629 , version 1

Citer

Alexandre Eudes, Maxime Lhuillier, Sylvie Naudet, Michel Dhome. Fast Odometry Integration in Local Bundle Adjustment-based Visual SLAM. 20th International Conference on Pattern Recognition ICPR 2010, Aug 2010, Istambul, Turkey. ⟨hal-01635629⟩
98 Consultations
267 Téléchargements

Partager

Gmail Facebook X LinkedIn More