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On combining visual SLAM and visual odometry [PDF]
2010 IEEE International Conference on Robotics and Automation, 2010 Sequential monocular SLAM systems perform drift free tracking of the pose of a camera relative to a jointly estimated map of landmarks. To allow real-time operation in moderately sized environments, the map is kept quite spare with usually only tens of landmarks visible in each frame.
Brian Patrick Williams, Ian D. Reid 0001
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, 2012 A core problem that must be solved by any practical visual SLAM system is the need to obtain correspondences throughout the image stream captured by a moving camera. Correspondences enable joint estimation of a moving camera's trajectory together with a 3D map of the observed scene.
Newcombe, Richard
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Deterministic topological visual SLAM
Proceedings of the Fifth Symposium on Information and Communication Technology - SoICT '14, 2014Simultaneous Localization and Mapping (SLAM) addresses the task of building a map of the environment with a robot while simultaneously localizing the robot relative to that map. SLAM is generally regarded as one of the most important problem in the pursuit of building truly autonomous mobile robots and is typically expressed within a probabilistic ...
Hui Wang 0068 +2 more
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2016 IEEE International Conference on Robotics and Automation (ICRA), 2016
The so-called direct visual SLAM methods have shown a great potential in estimating a semidense or fully dense reconstruction of the scene, in contrast to the sparse reconstructions of the traditional feature-based algorithms. In this paper, we propose for the first time a direct, tightly-coupled formulation for the combination of visual and inertial ...
Alejo Concha +3 more
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The so-called direct visual SLAM methods have shown a great potential in estimating a semidense or fully dense reconstruction of the scene, in contrast to the sparse reconstructions of the traditional feature-based algorithms. In this paper, we propose for the first time a direct, tightly-coupled formulation for the combination of visual and inertial ...
Alejo Concha +3 more
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A Framework For Evaluating Visual SLAM
Procedings of the British Machine Vision Conference 2009, 2009Performance analysis in the field of camera-based simultaneous localisation and mapping (Visual SLAM, VSLAM) is still an unsolved problem. For VSLAM systems, there is a lack of generally accepted performance measures, test frameworks, and benchmark problems.
Tobias Pietzsch, Jan Funke
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2014 13th International Conference on Control Automation Robotics & Vision (ICARCV), 2014
Visual Simultaneous Localisation and Mapping is the process whereby a camera builds a map of a previously unseen environment, and localises itself with respect to that environment, often in real-time. Although there has been remarkable progress, and it is now possible, for example, to build dense maps in real-time using high-end commodity hardware ...
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Visual Simultaneous Localisation and Mapping is the process whereby a camera builds a map of a previously unseen environment, and localises itself with respect to that environment, often in real-time. Although there has been remarkable progress, and it is now possible, for example, to build dense maps in real-time using high-end commodity hardware ...
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SaD-SLAM: A Visual SLAM Based on Semantic and Depth Information
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020Simultaneous Localization and Mapping (SLAM) is considered significant for intelligent mobile robot autonomous pathfinding. Over the past years, many successful SLAM systems have been developed and works satisfactorily in static environments. However, in some dynamic scenes with moving objects, the camera pose estimation error would be unacceptable, or
Xun Yuan 0001, Song Chen 0001
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Planar Features for Visual SLAM
2008Among the recent trends in real-time visual SLAM, there has been a move towards the construction of structure-rich maps. By using landmarks more descriptive than point features, such as line or surface segments, larger parts of the scene can be represented in a compact form.
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Mapping Technology in Visual SLAM
Proceedings of the 2018 2nd International Conference on Computer Science and Artificial Intelligence, 2018Simultaneous localization and mapping (SLAM) is a major challenge in the field of robotics. Existing literature reviews are classified according to the localization technology or sensors. However, there are no reviews based on the map construction technology in SLAM currently.
Zhuoyue Yang, Dianxi Shi
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On The Observability in Visual Slam Networks
ICASSP 2022 - 2022 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP), 2022Qier An, Yuan Shen 0001
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