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
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;
Conference_Titel :
Innovative Engineering Systems (ICIES), 2012 First International Conference on
Conference_Location :
Alexandria
Print_ISBN :
978-1-4673-4440-1
DOI :
10.1109/ICIES.2012.6530860
