Efficient integration of inertial observations into visual SLAM without initialization

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Volumn , Issue , 2009, Pages 1547-1552

  Lupton, Todd ^a   Sukkarieh, Salah ^a  

^a UNIVERSITY OF SYDNEY   (Australia)

Author keywords

[No Author keywords available]

Indexed keywords

GRAVITY VECTORS; HIGH DYNAMIC; HIGH RATE; INITIAL ORIENTATION; INITIAL VELOCITIES; PREDICTION RATE; SAMPLE RATE; STATE INFORMATION; VISUAL SLAM;

DEGREES OF FREEDOM (MECHANICS); EXTENDED KALMAN FILTERS; INTELLIGENT ROBOTS;

VELOCITY;

EID: 76249084521     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2009.5354267     Document Type: Conference Paper

References (7)

1. J. Folkesson and H. I. Christensen, "SIFT Based Graphical SLAM on a Packbot," in FSR, 2007, pp. 317-328.
2. P. Pinies, T. Lupton, S. Sukkarieh, and J. D. Tardos, "Inertial aiding of inverse depth SLAM using a monocular camera," in ICRA, 2007.
3. M. Bryson and S. Sukkarieh, "Bearing-only SLAM for an airborne vehicle," in ACRA, Sydney, Dec 2005.
4. R. Eustice, H. Singh, W. Hole, and W. Hole, "Visually navigating the RMS Titanic with SLAM information filters," in Proceedings of Robotics: Science and Systems, 2005, pp. 57-64.
5. T. Lupton and S. Sukkarieh, "Removing scale biases and ambiguity from 6Dof monocular SLAM using inertial," in ICRA, 2008, pp. 3698-3703.
6. D. Titterton and J. Weston, Strapdown Inertial Navigation Technology, 2nd ed. The American Institute of Aeronautics and Astronautics, 2004.
7. M. Bryson and S. Sukkarieh, "Building a Robust Implementation of Bearing-only Inertial SLAM for a UAV," Journal of Field Robotics, vol. 24, no. 1-2, pp. 113-143, 2007.