Title :
Bundle adjustment revisited for SLAM with RGBD sensors
Author :
Melbouci, Kathia ; Collette, Sylvie Naudet ; Gay-Bellile, Vincent ; Ait-Aider, Omar ; Carrier, Mathieu ; Dhome, Michel
Author_Institution :
Lab. Vision et Ingnierie des Contenus, CEA, Gif-sur-Yvette, France
Abstract :
We present a method of using depth information provided by an RGB-D sensor, for visual simultaneous localization and mapping (SLAM), in order to improve its accuracy. We present a constraint bundle adjustment which allows to easily combine depth and visual data in cost function entirely expressed in pixel. The proposed approach is evaluated on a public benchmark dataset and compared to the state of art methods.
Keywords :
computer vision; image reconstruction; RGBD sensors; SLAM; bundle adjustment revisited; depth information; visual simultaneous localization and mapping; Cameras; Cost function; Simultaneous localization and mapping; Three-dimensional displays; Visualization;
Conference_Titel :
Machine Vision Applications (MVA), 2015 14th IAPR International Conference on
Conference_Location :
Tokyo
DOI :
10.1109/MVA.2015.7153159
