• DocumentCode
    720680
  • 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
  • fYear
    2015
  • fDate
    18-22 May 2015
  • Firstpage
    166
  • Lastpage
    169
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Machine Vision Applications (MVA), 2015 14th IAPR International Conference on
  • Conference_Location
    Tokyo
  • Type

    conf

  • DOI
    10.1109/MVA.2015.7153159
  • Filename
    7153159
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=720680