Using planar facets for stereovision SLAM

10 years 3 months ago
Using planar facets for stereovision SLAM
In the context of stereovision SLAM, we propose a way to enrich the landmark models. Vision-based SLAM approaches usually rely on interest points associated to a point in the Cartesian space: by adjoining oriented planar patches (if they are present in the environment), we augment the landmark description with an oriented frame. Thanks to this additional information, the robot pose is fully observable with the perception of a single landmark, and the knowledge of the patches orientation helps the matching of landmarks perceived from different viewpoints. The paper depicts the chosen landmark model, the way to extract and match them, and presents some SLAM results obtained with such landmarks.
Cyrille Berger, Simon Lacroix
Added 31 May 2010
Updated 31 May 2010
Type Conference
Year 2008
Where IROS
Authors Cyrille Berger, Simon Lacroix
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