Sciweavers

Share
ICRA
2007
IEEE

Inertial Aiding of Inverse Depth SLAM using a Monocular Camera

10 years 9 months ago
Inertial Aiding of Inverse Depth SLAM using a Monocular Camera
— This paper presents the benefits of using a low cost inertial measurement unit to aid in an implementation of inverse depth initialized SLAM using a hand-held monocular camera. Results are presented with and without inertial observations for different assumed initial ranges to features on the same dataset. When using only the camera, the scale of the scene is not observable. As expected, the scale of the map depends on the prior used to initialize the depth of the features and may drift when exploring new terrain, precluding loop closure. The results show that the inertial observations help to improve the estimated trajectory of the camera leading to a better estimation of the map scale and a more accurate localization of features.
Pedro Pinies, Todd Lupton, Salah Sukkarieh, Juan D
Added 03 Jun 2010
Updated 03 Jun 2010
Type Conference
Year 2007
Where ICRA
Authors Pedro Pinies, Todd Lupton, Salah Sukkarieh, Juan D. Tardós
Comments (0)
books