A NOVEL STATE PARAMETRIZATION FOR STEREO-SLAM

Arne Petersen, Reinhard Koch

Abstract

This paper proposes a novel parametrization for probabilistic stereo SLAM algorithms. It is optimized to fulfill the assumption of Gaussian probability distributions for system errors. Moreover it makes full use of the contraints induced by stereo vision and provides a close to linear observation model. Therefore the position and orientation are estimated incremetally. The parametrization of landmarks is chosen as the landmarks projection in the master camera and its disparity to the projection in the slave camera. This way a minimal parametrization is given, that is predestinated for linear probabilistic estimators.

References

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Paper Citation


in Harvard Style

Petersen A. and Koch R. (2012). A NOVEL STATE PARAMETRIZATION FOR STEREO-SLAM . In Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP, (VISIGRAPP 2012) ISBN 978-989-8565-04-4, pages 144-153. DOI: 10.5220/0003844601440153


in Bibtex Style

@conference{visapp12,
author={Arne Petersen and Reinhard Koch},
title={A NOVEL STATE PARAMETRIZATION FOR STEREO-SLAM},
booktitle={Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP, (VISIGRAPP 2012)},
year={2012},
pages={144-153},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003844601440153},
isbn={978-989-8565-04-4},
}


in EndNote Style

TY - CONF
JO - Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP, (VISIGRAPP 2012)
TI - A NOVEL STATE PARAMETRIZATION FOR STEREO-SLAM
SN - 978-989-8565-04-4
AU - Petersen A.
AU - Koch R.
PY - 2012
SP - 144
EP - 153
DO - 10.5220/0003844601440153