Title :
A dense structure model for image based stereo SLAM
Author :
Tykkälä, Tommi ; Comport, Andrew I.
Author_Institution :
CNRS, UNSA, Sophia-Antipolis, France
Abstract :
In this paper a dense structure model is developed for stereo image based Simultaneous Localization And Mapping (SLAM). It is proposed to model dense environment structure incrementally by robustly integrating disparity maps from current and previous time instants. In this way disparities can be refined over time to favor consistent 3D structure over noise. The analytical search bounds for disparities are transferred into the current map to allow efficient re-localization. The cost function is image-based and it is minimized by combining Iteratively Reweighted Least-Squares (IRLS) with exhaustive search for finding motion and disparity parameters respectively.
Keywords :
SLAM (robots); iterative methods; least squares approximations; mobile robots; robot vision; stereo image processing; 3D structure; dense structure model; disparity parameter; image based stereo SLAM; iteratively reweighted least square; model dense environment structure; motion finding; robustly integrating disparity map; simultaneous localization and mapping; Accuracy; Cameras; Optimization; Rocks; Simultaneous localization and mapping; Three dimensional displays; Trajectory;
Conference_Titel :
Robotics and Automation (ICRA), 2011 IEEE International Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-61284-386-5
DOI :
10.1109/ICRA.2011.5979805
