Data Fusion by Uncertain Projective Geometry in 6DoF Visual SLAM

Daniele Marzorati; Matteo Matteucci; Davide Migliore; Domenico G. Sorrenti

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Paper

Data Fusion by Uncertain Projective Geometry in 6DoF Visual SLAM

In VISAPP-Robotic Perception - Volume 0VISIGRAPP, 3-12, 2008 , Funchal, Madeira, Portugal

Authors: Daniele Marzorati ¹ ; Matteo Matteucci ² ; Davide Migliore ² and Domenico G. Sorrenti ¹

Affiliations: ¹ Università di Milano-Bicocca, Italy ; ² Politecnico di Mila, Italy

Abstract: In this paper we face the issue of fusing 3D data from different sensors in a seamless way, using the unifying framework of uncertain projective geometry. Within this framework it is possible to describe, combine, and estimate various types of geometric elements (2D and 3D points, 2D and 3D lines, and 3D planes) taking their uncertainty into account. Because of the size of the data involved in this process, the integration process and thus the SLAM algorithm turns out to be very slow. For this reason, in this work, we propose the use of an R*-Tree data structure to speed up the whole process, managing in an efficent way both the estimated map and the 3D points clouds coming out from the stereo camera. The experimental section shows that the use of uncertain projective geometry and the R*-Tree data structure improves the mapping and the pose estimation.

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Paper citation in several formats:

Marzorati, D.; Matteucci, M.; Migliore, D. and G. Sorrenti, D. (2008). Data Fusion by Uncertain Projective Geometry in 6DoF Visual SLAM. In VISAPP-Robotic Perception (VISIGRAPP 2008) - VISAPP-RoboPerc; ISBN 978-989-8111-23-4, SciTePress, pages 3-12. DOI: 10.5220/0002341600030012

@conference{visapp-roboperc08,
author={Daniele Marzorati. and Matteo Matteucci. and Davide Migliore. and Domenico {G. Sorrenti}.},
title={Data Fusion by Uncertain Projective Geometry in 6DoF Visual SLAM},
booktitle={VISAPP-Robotic Perception (VISIGRAPP 2008) - VISAPP-RoboPerc},
year={2008},
pages={3-12},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002341600030012},
isbn={978-989-8111-23-4},
}

TY - CONF

JO - VISAPP-Robotic Perception (VISIGRAPP 2008) - VISAPP-RoboPerc
TI - Data Fusion by Uncertain Projective Geometry in 6DoF Visual SLAM
SN - 978-989-8111-23-4
AU - Marzorati, D.
AU - Matteucci, M.
AU - Migliore, D.
AU - G. Sorrenti, D.
PY - 2008
SP - 3
EP - 12
DO - 10.5220/0002341600030012
PB - SciTePress