THE EFFECT OF FEATURE COMPOSITION ON THE LOCALIZATION ACCURACY OF VISUAL SLAM SYSTEMS

Mohamed Heshmat, Mohamed Abdellatif

Abstract

Simultaneous Localization and Mapping, SLAM, for mobile robots using a single camera, has attracted several researchers in the recent years. In this paper, we study the effect of feature point geometrical composition on the associated localization errors. The study will help to design an efficient feature management strategy that can reach high accuracy using fewer features. The basic idea is inspired from camera calibration literature which requires calibration target points to have significant perspective effect to derive accurate camera parameters. When the scene have significant perspective effect, it is expected that this will reduce the errors since it implicitly comply with the utilized perspective projection model. Experiments were done to explore the effect of scene features composition on the localization errors using the state of the art visual Mono SLAM algorithm.

References

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Paper Citation


in Harvard Style

Heshmat M. and Abdellatif M. (2012). THE EFFECT OF FEATURE COMPOSITION ON THE LOCALIZATION ACCURACY OF VISUAL SLAM SYSTEMS . In Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP, (VISIGRAPP 2012) ISBN 978-989-8565-04-4, pages 419-424. DOI: 10.5220/0003868904190424


in Bibtex Style

@conference{visapp12,
author={Mohamed Heshmat and Mohamed Abdellatif},
title={THE EFFECT OF FEATURE COMPOSITION ON THE LOCALIZATION ACCURACY OF VISUAL SLAM SYSTEMS},
booktitle={Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP, (VISIGRAPP 2012)},
year={2012},
pages={419-424},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003868904190424},
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 - THE EFFECT OF FEATURE COMPOSITION ON THE LOCALIZATION ACCURACY OF VISUAL SLAM SYSTEMS
SN - 978-989-8565-04-4
AU - Heshmat M.
AU - Abdellatif M.
PY - 2012
SP - 419
EP - 424
DO - 10.5220/0003868904190424