Monocular SLAM using a rao-blackwellised particle filter with exhaustive pose space search

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2007, Pages 2421-2426

  Tomono, Masahiro ^a  

^a TOYO UNIVERSITY   (Japan)

Author keywords

3 D maps; 3 D reconstruction; Dense reconstruction; Object modeling; Structure from motion

Indexed keywords

CAMERAS; COMPUTER SIMULATION; GEOMETRY; MOTION CONTROL; ROBUSTNESS (CONTROL SYSTEMS);

DENSE RECONSTRUCTION; EPIPOLAR GEOMETRY; EXHAUSTIVE POSES; OBJECT MODELING; RAO BLACKWELLISED PARTICLE FILTERS; SPACE SEARCH;

WAVE FILTERS;

EID: 36349010167     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2007.363682     Document Type: Conference Paper

References (18)

1. A. J. Davison: "Real-time simultaneous localization and mapping with a single camera," Proc. of CVPR'03, 2003.
2. F. Dellaert, S. Seitz, C. Thorpe, and S. Thrun: "Structure from motion without correspondences," Proc. of CVPR2000, 2000.
3. E. Eade and T. Drummond: "Scalable Monocular SLAM," Proc. of CVPR'06, 2006.
4. P. Elinas, R. Sim, and J. J. Little: "σ SLAM: Stereo Vision SLAM Using the Rao-Blackwellised Particle Filter and a Novel Mixture Proposal Distribution," Proc. of ICRA2006, pp. 1564-1570, 2006.
5. M. Fischler and R. Bolles: "Random Sample Consensus: a Paradigm for Model Fitting with Application to Image Analysis and Automated Cartography", Communications ACM, 24:381-395, 1981.
6. A. W. Fitzgibbon and A. Zisserman: "Automatic Camera Recovery for Closed or Open Image Sequences," Proc. of ECCV'98, 1998.
7. R. Hartley: "In defense of the eight-point algorithm," IEEE Trans. PAMI, Vol. 19, No. 6, pp. 580-593, 1997.
8. R. Hartley and A. Zisserman: "Multiple View Geometry in Computer Vision," Cambridge University Press, 2000.
9. N. M. Kwok and G. Dissanayake: "An Efficient Multiple Hypothesis Filter for Bearing-Only SLAM," Proc of IROS2004, 2004.
10. A. Makadia, C. Geyer, and K. Daniilidis: "Radon-based Structure from Motion Without Correspondences," Proc of CVPR '05, 2005.
11. M. Montemerlo, S. Thrun, D. Koller, and B. Wegbreit: "FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem," Proc of AAAI2002, 2002.
12. J. M. M. Montiel, J. Civera, and A. J. Davison:"Unified Inverse Depth Parametrization for Monocular SLAM," Proc. of RSS2006, 2006.
13. K. Murphy and S. Russell: "Rao-Blackwellised Particle Filtering for Dynamic Bayesian Networks," in A. Doucet ed. : Sequential Monte Carlo Methods in Practice, Springer, 2001.
14. D. Nistér, O. Naroditsky, and J. Bergen: "Visual Odometry," Proc. of CVPR '04, 2004.
15. J. Shi and C. Tomasi: "Good Features to Track," Proc. of CVPR'94, pp. 593-600, 1994.
16. J. Sola, A. Monin, M. Devy, and T. Lemaire: "Undelayed Initialization in Bearing Only SLAM," Proc. of IROS2005, pp. 2751-2756, 2005.
17. S. Thrun, W. Burgard, and D. Fox: "Probabilistic Robotics," the MIT Press, 2005.
18. C. Tomasi and T. Kanade: "Shape and Motion from Image Streams under Orthography: A Factorization Approach," Int. J. of Computer Vision, 9(2):137-154.