Title :
Using depth in visual simultaneous localisation and mapping
Author :
Scherer, Sebastian A. ; Dube, Daniel ; Zell, Andreas
Author_Institution :
Cognitive Syst., Comput. Sci. Dept., Univ. of Tubingen, Tubingen, Germany
Abstract :
We present a method of utilizing depth information as provided by RGBD sensors for robust real-time visual simultaneous localisation and mapping (SLAM) by augmenting monocular visual SLAM to take into account depth data. This is implemented based on the feely available software “Parallel Tracking and Mapping” by Georg Klein. Our modifications allow PTAM to be used as a 6D visual SLAM system even without any additional information about odometry or from an inertial measurement unit.
Keywords :
SLAM (robots); image colour analysis; 6D visual SLAM system; RGBD sensors; augmenting monocular visual SLAM; depth information utilization; parallel tracking; real-time visual simultaneous localisation and mapping; Cameras; Measurement uncertainty; Position measurement; Simultaneous localization and mapping; Standards; Visualization;
Conference_Titel :
Robotics and Automation (ICRA), 2012 IEEE International Conference on
Conference_Location :
Saint Paul, MN
Print_ISBN :
978-1-4673-1403-9
Electronic_ISBN :
1050-4729
DOI :
10.1109/ICRA.2012.6224864
