A Highest order hypothesis compatibility test for monocular SLAM

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A Highest order hypothesis compatibility test for monocular SLAM

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Guerra Paradas, Edmundo / Munguía Alcalá, Rodrigo Francisco / Bolea Monte, Yolanda / Grau Saldes, Antoni

Simultaneous Location and Mapping (SLAM) is a key problem to solve in order to build truly autonomous mobile robots. SLAM with a unique camera, or monocular SLAM, is probably one of the most complex SLAM variants, based entirely on a bearing-only sensor working over six DOF. The monocular SLAM method developed in this work is based on the Delayed Inverse-Depth (DI-D) Feature Initialization, with the contribution of a new data association batch validation technique, the Highest Order Hypothesis Compatibility Test, HOHCT. The Delayed Inverse-Depth technique is used to initialize new features in the system and defines a single hypothesis for the initial depth of features with the use of a stochastic technique of triangulation. The introduced HOHCT method is based on the evaluation of statistically compatible hypotheses and a search algorithm designed to exploit the strengths of the Delayed Inverse-Depth technique to achieve good performance results. This work presents the HOHCT with a detailed formulation of the monocular DI-D SLAM problem. The performance of the proposed HOHCT is validated with experimental results, in both in door and outdoor environments, while its costs are compared with other popular approaches. ; Postprint (published version)

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Dokumentinformationen

Titel :

A Highest order hypothesis compatibility test for monocular SLAM

Beteiligte:

Guerra Paradas, Edmundo (Autor:in) / Munguía Alcalá, Rodrigo Francisco (Autor:in) / Bolea Monte, Yolanda (Autor:in) / Grau Saldes, Antoni (Autor:in) / Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial / Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel.ligents

Erscheinungsdatum :

2013-08-01

DOI :

https://doi.org/10.5772/56737

Medientyp :

Aufsatz (Zeitschrift)

Format :

Elektronische Ressource

Sprache :

Englisch

Schlagwörter :

Àrees temàtiques de la UPC::Informàtica::Robòtica , Mobile robots , Optical detectors , Monocular SLAM , robotics , only-bearing sensor , Robots mòbils , Detectors òptics