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Monocular SLAM for Visual Odometry: A Full Approach to the Delayed Inverse-Depth Feature Initialization Method

机译：用于视觉里程表的单目SLAM：延迟反深度特征初始化方法的完整方法

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摘要

This paper describes in a detailed manner a method to implement a simultaneous localization and mapping (SLAM) system based on monocular vision for applications of visual odometry, appearance-based sensing, and emulation of range-bearing measurements. SLAM techniques are required to operate mobile robots in a priori unknown environments using only on-board sensors to simultaneously build a map of their surroundings; this map will be needed for the robot to track its position. In this context, the 6-DOF (degree of freedom) monocular camera case (monocular SLAM) possibly represents the harder variant of SLAM. In monocular SLAM, a single camera, which is freely moving through its environment, represents the sole sensory input to the system. The method proposed in this paper is based on a technique called delayed inverse-depth feature initialization, which is intended to initialize new visual features on the system. In this work, detailed formulation, extended discussions, and experiments with real data are presented in order to validate and to show the performance of the proposal.
机译：本文以一种详细的方式描述了一种实现基于单眼视觉的同时定位和制图（SLAM）系统的方法，该方法适用于视觉里程表，基于外观的传感以及对测距测量的仿真。需要SLAM技术才能在先验未知环境中仅使用车载传感器来操作移动机器人，以同时构建其周围环境的地图；机器人需要此地图来跟踪其位置。在这种情况下，6-DOF（自由度）单眼相机盒（单眼SLAM）可能代表了SLAM的较硬变体。在单眼SLAM中，可以在环境中自由移动的单个摄像头代表对系统的唯一感官输入。本文提出的方法基于一种称为延迟逆深度特征初始化的技术，该技术旨在初始化系统上的新视觉特征。在这项工作中，提出了详细的表述，扩展的讨论和带有实际数据的实验，以验证并显示建议的性能。

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  • 来源
    《Mathematical Problems in Engineering》 |2012年第8期|676385.1-676385.26|共26页
  • 作者

    Rodrigo Munguia; Antoni Grau;

  • 作者单位

    Department of Computer Science, CUCEI, Universidad de Guadalajara, 44430 Guadalajara, JAL, Mexico,Department of Automatic Control, UPC, BarcelonaTech, 08034 Barcelona, Spain;

    Department of Automatic Control, UPC, BarcelonaTech, 08034 Barcelona, Spain;

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