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Authors: Cyril Joly and Patrick Rives

Affiliation: INRIA Sophia Antipolis Méditerranée, France

ISBN: 978-989-8425-01-0

Keyword(s): Simultaneous localization and mapping (SLAM), Smoothing and mapping (SAM), Extended Kalman filter (EKF), Bearing-only, Inverse depth representation.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation ; Vision, Recognition and Reconstruction

Abstract: Safe and efficient navigation in large-scale unknown environments remains a key problem which has to be solved to improve the autonomy of mobile robots. SLAM methods can bring the map of the world and the trajectory of the robot. Monucular visual SLAMis a difficult problem. Currently, it is solved with an Extended Kalman Filter (EKF) using the inverse depth parametrization. However, it is now well known that the EKFSLAMbecome inconsistent when dealing with large scale environments. Moreover, the classical inverse depth parametrization is over-parametrized, which can also be a cause of inconsistency. In this paper, we propose to adapt the inverse depth representation to the more robust context of smoothing and mapping (SAM).We show that our algorithm is not over-parameterized and that it gives very accurate results on real data.

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Paper citation in several formats:
Joly C.; Rives P. and (2010). BEARING-ONLY SAM USING A MINIMAL INVERSE DEPTH PARAMETRIZATION - Application to Omnidirectional SLAM.In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-01-0, pages 281-288. DOI: 10.5220/0002949702810288

@conference{icinco10,
author={Cyril Joly and Patrick Rives},
title={BEARING-ONLY SAM USING A MINIMAL INVERSE DEPTH PARAMETRIZATION - Application to Omnidirectional SLAM},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2010},
pages={281-288},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002949702810288},
isbn={978-989-8425-01-0},
}

TY - CONF

JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - BEARING-ONLY SAM USING A MINIMAL INVERSE DEPTH PARAMETRIZATION - Application to Omnidirectional SLAM
SN - 978-989-8425-01-0
AU - Joly, C.
AU - Rives, P.
PY - 2010
SP - 281
EP - 288
DO - 10.5220/0002949702810288

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