DocumentCode
2368151
Title
Experimental verification of direct depth computing technique for monocular visual SLAM systems
Author
Hasan, Mohammed ; Abdellatif, Mohamed
Author_Institution
Mechatron. & Robot. Eng., Egypt-Japan Univ. of Sci. & Technol., Alexandria, Egypt
fYear
2012
fDate
7-9 Dec. 2012
Firstpage
142
Lastpage
147
Abstract
This paper verifies a recently published method of monocular depth computing in the context of visual SLAM. The closed form depth solution was exploited in the measurement model of a monocular EKF visual SLAM algorithm. SIFT interest points are tracked during camera motion and a suitable feature initialization is presented. The visual SLAM system is verified through experiments on a mobile robot platform and the results are benchmarked to groundtruth.
Keywords
Kalman filters; SLAM (robots); cameras; mobile robots; motion control; nonlinear filters; object tracking; robot vision; SIFT interest point tracking; camera motion; closed form depth solution; direct depth computing technique; experimental verification; feature initialization; measurement model; mobile robot platform; monocular EKF visual SLAM algorithm; monocular depth computing; monocular visual SLAM system; SIFT; monocular depth from motion; monocular visual SLAM;
fLanguage
English
Publisher
ieee
Conference_Titel
Innovative Engineering Systems (ICIES), 2012 First International Conference on
Conference_Location
Alexandria
Print_ISBN
978-1-4673-4440-1
Type
conf
DOI
10.1109/ICIES.2012.6530860
Filename
6530860
Link To Document