DocumentCode
2696596
Title
Experiences in building a visual SLAM system from open source components
Author
Hertzberg, Christoph ; Wagner, René ; Birbach, Oliver ; Hammer, Tobias ; Frese, Udo
Author_Institution
FB3-Math. und Inf., Univ. Bremen, Bremen, Germany
fYear
2011
fDate
9-13 May 2011
Firstpage
2644
Lastpage
2651
Abstract
This paper shows that the field of visual SLAM has matured enough to build a visual SLAM system from open source components. The system consists of feature detection, data association, and sparse bundle adjustment. For all three modules we evaluate different libraries w.r.t. ground truth.
Keywords
SLAM (robots); feature extraction; image matching; mobile robots; public domain software; robot vision; software libraries; stereo image processing; visual servoing; data association; feature detection; open source library; sparse bundle adjustment; stereomatching; visual SLAM system; volumetric mapping; Cameras; Detectors; Feature extraction; Libraries; Simultaneous localization and mapping; Visualization;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation (ICRA), 2011 IEEE International Conference on
Conference_Location
Shanghai
ISSN
1050-4729
Print_ISBN
978-1-61284-386-5
Type
conf
DOI
10.1109/ICRA.2011.5980140
Filename
5980140
Link To Document