{"title":"单目视觉SLAM系统直接深度计算技术的实验验证","authors":"M. Hasan, M. Abdellatif","doi":"10.1109/ICIES.2012.6530860","DOIUrl":null,"url":null,"abstract":"This paper verifies a recently published method of monocular depth computing in the context of visual SLAM. The closed form depth solution was exploited in the measurement model of a monocular EKF visual SLAM algorithm. SIFT interest points are tracked during camera motion and a suitable feature initialization is presented. The visual SLAM system is verified through experiments on a mobile robot platform and the results are benchmarked to groundtruth.","PeriodicalId":410182,"journal":{"name":"2012 First International Conference on Innovative Engineering Systems","volume":"45 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"Experimental verification of direct depth computing technique for monocular visual SLAM systems\",\"authors\":\"M. Hasan, M. Abdellatif\",\"doi\":\"10.1109/ICIES.2012.6530860\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper verifies a recently published method of monocular depth computing in the context of visual SLAM. The closed form depth solution was exploited in the measurement model of a monocular EKF visual SLAM algorithm. SIFT interest points are tracked during camera motion and a suitable feature initialization is presented. The visual SLAM system is verified through experiments on a mobile robot platform and the results are benchmarked to groundtruth.\",\"PeriodicalId\":410182,\"journal\":{\"name\":\"2012 First International Conference on Innovative Engineering Systems\",\"volume\":\"45 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2012-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2012 First International Conference on Innovative Engineering Systems\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICIES.2012.6530860\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2012 First International Conference on Innovative Engineering Systems","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICIES.2012.6530860","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Experimental verification of direct depth computing technique for monocular visual SLAM systems
This paper verifies a recently published method of monocular depth computing in the context of visual SLAM. The closed form depth solution was exploited in the measurement model of a monocular EKF visual SLAM algorithm. SIFT interest points are tracked during camera motion and a suitable feature initialization is presented. The visual SLAM system is verified through experiments on a mobile robot platform and the results are benchmarked to groundtruth.
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