Monocular SLAM for visual odometry: A full approach to the delayed inverse-depth feature initialization method

Mathematical Problems in Engineering

Volumn 2012, Issue , 2012, Pages

  Munguía, Rodrigo ^a,b   Grau, Antoni ^b  

^a UNIVERSITY OF GUADALAJARA   (Mexico)

^b UNIVERSITAT POLITÈCNICA DE CATALUNYA   (Spain)

Author keywords

[No Author keywords available]

Indexed keywords

APPEARANCE BASED; DEGREE OF FREEDOM; FEATURE INITIALIZATION; FREELY MOVING; INVERSE-DEPTH; MONOCULAR CAMERAS; MONOCULAR SLAM; MONOCULAR VISION; ON-BOARD SENSORS; SENSORY INPUT; SIMULTANEOUS LOCALIZATION AND MAPPING; SINGLE CAMERAS; VISUAL FEATURE; VISUAL ODOMETRY;

CAMERAS; MATHEMATICAL TECHNIQUES; ROBOTICS;

VISION;

EID: 84867951189     PISSN: 1024123X     EISSN: 15635147     Source Type: Journal    
DOI: 10.1155/2012/676385     Document Type: Article

References (37)

1. Auat F., De la Cruz C., Carelli R., Bastos T., Navegación autónoma asistida basada en SLAM para una silla de ruedas robotizada en entornos restringidos. Revista Iberoamericana de Automática e Informática Industrial 2011 8 81 92
2. Vázquez-Martín R., Núez P., Bandera A., Sandoval F., Curvature-based environment description for robot navigation using laser range sensors. Sensors 2009 9 8 5894 5918 2-s2.0-70349634200 10.3390/s90805894
3. Durrant-Whyte H., Bailey T., Simultaneous localization and mapping: part I. IEEE Robotics and Automation Magazine 2006 13 2 99 110 2-s2.0-33745178432 10.1109/MRA.2006.1638022 (Pubitemid 43898863)
4. Bailey T., Durrant-Whyte H., Simultaneous localization and mapping: part II. IEEE Robotics and Automation Magazine 2006 13 3 108 117 2-s2.0-33745178432 10.1109/MRA.2006.1678144 (Pubitemid 46530408)
5. Davison A. J., Real-time simultaneous localisation and mapping with a single camera. 2 Proceedings of the 19th IEEE International Conference on Computer Vision (ICCV '03) October 2003 1403 1410 2-s2.0-0345414201
6. Matthies L., Kanade T., Szeliski R., Kalman filter-based algorithms for estimating depth from image sequences. International Journal of Computer Vision 1989 3 3 209 238 2-s2.0-34249971717 10.1007/BF00133032
7. Gennery D. B., Visual tracking of known three-dimensional objects. International Journal of Computer Vision 1992 7 3 243 270 2-s2.0-0026841840 10.1007/BF00126395
8. Azarbayejani A., Horowitz B., Pentland A., Recursive estimation of structure and motion using relative orientation constraints. Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition June 1993 294 299 2-s2.0-0027840775
9. Jin H., Favaro P., Soatto S., A semi-direct approach to structure from motion. Visual Computer 2003 19 6 377 394 2-s2.0-0242552297 10.1007/s00371-003- 0202-6
10. Fitzgibbon A. W., Zisserman A., Automatic camera recovery for closed or open image sequences. 1 Proceedings of the European Conference on Computer Vision (ECCV '98) 1998 311 326
11. Yu Y. K., Wong K. H., Or S. H., Chang M. M. Y., Robust 3-D motion tracking from stereo images: a model-less method. IEEE Transactions on Instrumentation and Measurement 2008 57 3 622 630 2-s2.0-40549127493 10.1109/TIM.2007.911641 (Pubitemid 351359257)
12. Deans H., Martial M., Experimental comparison of techniques for localization and mapping using a bearing-only sensor. Proceedings of the 7th International Symposium on Experimental Robotic (ISER '00) December 2000
13. Strelow S., Sanjiv D., Online motion estimation from image and inertial measurements. Proceedings of the Workshop on Integration of Vision and Inertial Sensors (INERVIS '03) June 2003
14. Bailey T., Constrained initialisation for bearing-only SLAM. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '03) September 2003 1966 1971 2-s2.0-0344445480
15. Kwok N. M., Dissanayake G., An efficient multiple hypothesis filter for bearing-only SLAM. 1 Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '04) October 2004 736 741 2-s2.0-14044259410
16. Kwok N. M., Dissanayake G., Ha Q. P., Bearing-only SLAM using a SPRT based gaussian sum filter. Proceedings of the IEEE International Conference on Robotics and Automation April 2005 1109 1114 2-s2.0-33846147368 10.1109/ROBOT.2005.1570264
17. Peach N., Bearings-only tracking using a set of range-parameterized extended Kalman filters. IEE Proceedings 1995 142 1 73 80 2-s2.0-0029207793 10.1049/ip-cta:19951614
18. Davison A., Gonzalez Y., Kita N., Real-time 3D SLAM with wide-angle vision. Proceedings of the 5th IFAC/EURON Symposium on Intelligent Autonomous Vehicles (IAV '04) July 2004
19. Jin H., Favaro P., Soatto S., Real-time 3-D motion and structure of point features: a front-end system for vision-based control and interaction. Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR '00) June 2000 778 779 2-s2.0-0033700277
20. Smith P., Reid I., Davison A., Real-time monocular SLAM with straight lines. Proceedings of the British Machine Vision Conference September 2006 BMVA Press
21. Jensfelt P., Folkesson J., Kragic D., Christensen H., Exploiting distinguishable image features in robotics mapping and localization. Proceedings of the European Robotics Symposium (EUROS '06) 2006 Palermo, Italy
22. Solà J., Monin A., Devy M., Lemaire T., Undelayed initialization in bearing only SLAM. Proceedings of the IEEE IRS/RSJ International Conference on Intelligent Robots and Systems (IROS '05) August 2005 2751 2756 2-s2.0-79957987634 10.1109/IROS.2005.1545392
23. Lemaire T., Lacroix S., Solà J., A practical 3D bearing-only SLAM algorithm. Proceedings of the IEEE IRS/RSJ International Conference on Intelligent Robots and Systems (IROS '05) August 2005 2757 2762 2-s2.0-33845402129 10.1109/IROS.2005.1545393
24. Eade E., Drummond T., Scalable monocular SLAM. Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR '06) June 2006 469 476 2-s2.0-33845584377 10.1109/CVPR.2006.263
25. Montemerlo M., Thrun S., Koller D., Wegbreit B., FastSLAM: a factored solution to the simultaneous localization and mapping problem. Proceedings of the 18th National Conference on Artificial Intelligence (AAAI '02) August 2002 Menlo Park, Calif, USA 593 598 2-s2.0-0036923024
26. Montiel J. M. M., Civera J., Davison A., Unified inverse depth parametrization for monocular SLAM. Proceedings of the Robotics: Science and Systems Conference August 2006
27. Munguia R., Grau A., Monocular SLAM for visual odometry. Proceedings of the IEEE International Symposium on Intelligent Signal Processing (WISP '07) October 2007 Alcala de Henares, Spain 2-s2.0-51149084300 10.1109/WISP.2007. 4447564
28. Munguia R., Grau A., Delayed inverse depth monocular SLAM. Proceedings of the 17th World Congress, International Federation of Automatic Control (IFAC '08) July 2008 Seoul, Korea 2-s2.0-79961020381 10.3182/20080706-5-KR-1001.2321
29. Shuster M. D., Survey of attitude representations. The Journal of the Astronautical Sciences 1993 41 4 439 517 2-s2.0-0027685324
30. Chatterjee C., Roychowdhury V. P., Algorithms for coplanar camera calibration. Machine Vision and Applications 2000 12 2 84 97 2-s2.0-0033679986 10.1007/s001380050127
31. Ganapathy S., Decomposition of Transformation Matrices for Robot Vision. Proceedings of the International Conference on Robotics and Automation 1984 130 139
32. Chiuso A., Favaro P., Jin H., Soatto S., MFm: 3-D motion from 2-D motion causally integrated over time. Proceedings of the European Conference on Computer Vision (ECCV '00) 2000
33. Davison A. J., Murray D. W., Mobile robot localisation using active vision. 2 Proceedings of the 5th European Conference on Computer Vision (ECCV '98) 1998 Freiburg, Germany 809 825
34. Neira J., Tardós J. D., Data association in stochastic mapping using the joint compatibility test. IEEE Transactions on Robotics and Automation 2001 17 6 890 897 2-s2.0-0035705785 10.1109/70.976019 (Pubitemid 34125086)
35. Baile T., Mobile robot localisation and mapping in extensive outdoor environments [Ph.D. thesis] 2002 University of Sydney, Australian Centre for Field Robotics
36. Favaro P., Stima del moto e della struttura della scena tramite visione dinamica [M.S. thesis] 1998 University of Padua
37. Munguía R., Grau A., Closing loops with a virtual sensor based on monocular SLAM. IEEE Transactions on Instrumentation and Measurement 2009 58 8 2377 2384 2-s2.0-67949102120 10.1109/TIM.2009.2016377