BEARING-ONLY SAM USING A MINIMAL INVERSE DEPTH PARAMETRIZATION - Application to Omnidirectional SLAM

Cyril Joly, Patrick Rives

2010

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.

References

  1. Bailey, T., Nieto, J., Guivant, J., Stevens, M., and Nebot, E. (2006a). Consistency of the ekf-slam algorithm. In IEEE/RSJ International Conference on Intelligent Robots and Systems.
  2. Bailey, T., Nieto, J., and Nebot, E. (2006b). Consistency of the fastslam algorithm. In IEEE International Conference on Robotics and Automation.
  3. Barreto, J. P. (2003). General Central Projection Systems, modeling, calibration and visual servoing. PhD thesis, Department of electrical and computer engineering.
  4. Civera, J., Davion, A. J., and Montiel, J. M. (2008). Inverse Depth Parametrization for Monocular SLAM. IEEE Transactions On Robotics, 24(5).
  5. Civera, J., Davison, A. J., and Montiel, J. (2007). Inverse depth to depth conversion for monocular slam. In International Conference on Robotics and Automation (ICRA).
  6. Dellaert, F. and Kaess, M. (2006). Square Root SAM: Simultaneous Location and Mapping via Square Root Information Smoothing. Journal of Robotics Research.
  7. Hadj-Abdelkader, H., Malis, E., and Rives, P. (2008). Spherical Image Processing for Accurate Odometry with Omnidirectional Cameras. In The Eighth Workshop on Omnidirectional Vision.
  8. Huang, G., Mourikis, A., , and Roumeliotis, S. (2008). Analysis and improvement of the consistency of extended kalman filter based slam. In Proceedings of the 2008 IEEE International Conference on Robotics and Automation (ICRA).
  9. Julier, S. J. and Uhlmann, J. K. (2001). A counter example to the theory of simultaneous localization and map building. In International Conference on Robotics and Automation (ICRA).
  10. Mei, C. (2007). Laser-Augmented Omnidirectional Vision for 3D Localisation and Mapping. PhD thesis, Ecole des Mines de Paris, INRIA Sophia Antipolis.
  11. Montemerlo, M., Thrun, S., Koller, D., and Wegbreit, B. (2003). FastSLAM 2.0: An Improved Particle Filtering Algorithm for Simultaneous Localization and Mapping that Provably Converges. In International Joint Conference on Artificial Intelligence, pages 1151-1156.
  12. Smith, R. and Cheeseman, P. (1987). On the representation and estimation of spatial uncertainty. International Journal of Robotics Research, 5(4):56-68.
  13. Thrun, S. and Montemerlo, M. (2006). The GraphSLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures. The International Journal of Robotics Research, 25(5-6):403-429.
Download


Paper Citation


in Harvard Style

Joly C. and Rives P. (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


in Bibtex Style

@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},
}


in EndNote Style

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