On augmenting the visual slam with direct orientation measurement using the 5-point algorithm

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Opis

Tytuł:: On augmenting the visual slam with direct orientation measurement using the 5-point algorithm
Autorzy:: Schmidt, A.
Kraft, A.
Fularz, M.
Domagała, Z.
Powiązania:: https://bibliotekanauki.pl/articles/384310.pdf
Data publikacji:: 2013
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:: visual SLAM
visual odometry
Źródło:: Journal of Automation Mobile Robotics and Intelligent Systems; 2013, 7, 1; 5-10
1897-8649
2080-2145
Język:: angielski
Prawa:: CC BY-SA: Creative Commons Uznanie autorstwa - Na tych samych warunkach 3.0 PL
Dostawca treści:: Biblioteka Nauki
: Artykuł

Przejdź do źródła

This paper presents the attempt to merge two paradigms of the visual robot navigation: Visual Simultaneous Localization and Mapping (VSLAM) and Visual Odometry (VO). The VSLAM was augmented with the direct, visual measurement of the robot orientation change using the 5-point algorithm. The extended movement model of the robot was proposed and additional measurements were introduced to the SLAM system. The efficiency of the 5-point and 8-point algorithms was compared. The augmented system was compared with the state of the art VSLAM solution and the proposed modification allowed to reduce the tracking error by over 30%.

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