使用广角立体相机进行实时同步定位和绘图

IEEE Workshop on Distributed Intelligent Systems: Collective Intelligence and Its Applications (DIS'06) Pub Date : 2006-06-15 DOI:10.1109/DIS.2006.61

D. Schleicher, L. Bergasa, R. Barea, E. López, M. Ocaña

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引用次数: 11

摘要

本文提出了一种应用于廉价广角立体摄像机在三维环境中定位/方向的实时自我运动计算新方法。为了实现这一目标，目标是解决同时定位和映射(SLAM)问题。我们的方法包括通过立体摄像机对自然地标进行三维顺序映射，这也提供了获取摄像机位置/方向的方法。采用自顶向下的贝叶斯方法对其动态行为进行建模。结果表明，我们的系统与使用手摇相机的单目视觉SLAM系统进行了比较。在无先验环境知识要求、更短的处理时间(实时约束)和更高的鲁棒性方面进行了改进

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Real-Time Simultaneous Localization and Mapping Using a Wide-Angle Stereo Camera

This paper presents a new method for real-time ego-motion calculation applied to the location/orientation of a cheap wide-angle stereo camera in a 3D environment. To achieve that, the goal is to solve the simultaneous localization and mapping (SLAM) problem. Our approach consists in the 3D sequential mapping of natural landmarks by means of a stereo camera, which also provides means to obtain the camera location/orientation. The dynamic behavior is modeled using a top-down Bayesian method. The results show a comparison between our system and a monocular visual SLAM system using a hand-waved camera. Several improvements related to no priori environment knowledge requirements, lower processing time (real-time constrained) and higher robustness is presented

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IEEE Workshop on Distributed Intelligent Systems: Collective Intelligence and Its Applications (DIS'06)

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