Incorporating Static Environment Elements into the EKF-Based Visual SLAM
[ 1 ] Instytut Automatyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | [ P ] employee
2016
paper
english
- SLAM
- robot navigation
- robot vision
EN The paper presents a visual simultaneous localization and mapping (SLAM) system extended to work with additional, static elements of the environment. Additional measurements have been introduced by incorporating the static surveillance cameras and artificial markers placed in the environment. This reduced the influence of the inherent scale ambiguity of the monocular systems and the tracking drift on the trajectory tracking. Consequently, the root mean square of the absolute trajectory error was reduced by 23% when compared to the well-established MonoSLAM system.
161 - 168
WoS (15)