Visual Simultaneous Localization and Mapping with Direct Orientation Change Measurements

Adam Schmidt; Marek Kraft; Michał Fularz; Zuzanna Domagała

doi:10.1007/978-3-319-02309-0_13

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Title

Visual Simultaneous Localization and Mapping with Direct Orientation Change Measurements

Authors

Adam Schmidt (WE) ^{[ 1 ][ P ]}
Marek Kraft (WE) ^{[ 1 ][ P ]}
Michał Fularz (WE) ^{[ 1 ][ P ]}
Zuzanna Domagała

^{[ 1 ]} Instytut Automatyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | ^{[ P ]} employee

Year of publication

2014

Chapter type

paper

Publication language

english

Keywords

EN

SLAM
odometry
robot navigation

Abstract

EN This paper presents an extension of the visual simultaneous localization and mapping (VSLAM) system with the direct measurements of the robot’s orientation change. Four different sources of the additional measurements were considered: visual odometry using both the 5-point [10, 15] and 8-point algorithm [9], wheel odometry and Inertial Measurement Unit (IMU) measurements. The accuracy of the proposed system was compared with the accuracy of the canonical MonoSLAM [7]. The introduction of the additional measurements allowed to reduce the mean error by 17%.

Pages (from - to)

123 - 130

DOI

10.1007/978-3-319-02309-0_13

URL

https://link.springer.com/chapter/10.1007/978-3-319-02309-0_13

Book

Man-Machine Interactions 3

Presented on

3rd International Conference on Man-Machine Interactions (ICMMI), Brenna, Poland, 22-25 Oct. 2013, 22-25.10.2013, Brenna, Poland

Publication indexed in

WoS (15)

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