A Highest order hypothesis compatibility test for monocular SLAM

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 metho...

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Autores: Guerra Paradas, Edmundo|||0000-0002-6696-0982, Munguía Alcalá, Rodrigo Francisco, Bolea Monte, Yolanda|||0000-0002-7075-9878, Grau Saldes, Antoni|||0000-0003-4112-3325
Tipo de recurso: artículo
Fecha de publicación:2013
País:España
Institución:Universitat Politècnica de Catalunya (UPC)
Repositorio:UPCommons. Portal del coneixement obert de la UPC
Idioma:inglés
OAI Identifier:oai:upcommons.upc.edu:2117/20473
Acceso en línea:https://hdl.handle.net/2117/20473
https://dx.doi.org/10.5772/56737
Access Level:acceso abierto
Palabra clave:Mobile robots
Optical detectors
Monocular SLAM
robotics
only-bearing sensor.
Robots mòbils
Detectors òptics
Àrees temàtiques de la UPC::Informàtica::Robòtica
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oai_identifier_str oai:upcommons.upc.edu:2117/20473
network_acronym_str ES
network_name_str España
repository_id_str
spelling A Highest order hypothesis compatibility test for monocular SLAMGuerra Paradas, Edmundo|||0000-0002-6696-0982Munguía Alcalá, Rodrigo FranciscoBolea Monte, Yolanda|||0000-0002-7075-9878Grau Saldes, Antoni|||0000-0003-4112-3325Mobile robotsOptical detectorsMonocular SLAMroboticsonly-bearing sensor.Robots mòbilsDetectors òpticsÀrees temàtiques de la UPC::Informàtica::RobòticaSimultaneous 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.20132013-08-0120132013-10-27journal articlehttp://purl.org/coar/resource_type/c_6501VoRhttp://purl.org/coar/version/c_970fb48d4fbd8a85info:eu-repo/semantics/articleapplication/pdfhttps://hdl.handle.net/2117/20473https://dx.doi.org/10.5772/56737reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2Attribution-NonCommercial-NoDerivs 3.0 Spainhttp://creativecommons.org/licenses/by-nc-nd/3.0/es/info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/204732026-05-27T15:37:01Z
dc.title.none.fl_str_mv A Highest order hypothesis compatibility test for monocular SLAM
title A Highest order hypothesis compatibility test for monocular SLAM
spellingShingle A Highest order hypothesis compatibility test for monocular SLAM
Guerra Paradas, Edmundo|||0000-0002-6696-0982
Mobile robots
Optical detectors
Monocular SLAM
robotics
only-bearing sensor.
Robots mòbils
Detectors òptics
Àrees temàtiques de la UPC::Informàtica::Robòtica
title_short A Highest order hypothesis compatibility test for monocular SLAM
title_full A Highest order hypothesis compatibility test for monocular SLAM
title_fullStr A Highest order hypothesis compatibility test for monocular SLAM
title_full_unstemmed A Highest order hypothesis compatibility test for monocular SLAM
title_sort A Highest order hypothesis compatibility test for monocular SLAM
dc.creator.none.fl_str_mv Guerra Paradas, Edmundo|||0000-0002-6696-0982
Munguía Alcalá, Rodrigo Francisco
Bolea Monte, Yolanda|||0000-0002-7075-9878
Grau Saldes, Antoni|||0000-0003-4112-3325
author Guerra Paradas, Edmundo|||0000-0002-6696-0982
author_facet Guerra Paradas, Edmundo|||0000-0002-6696-0982
Munguía Alcalá, Rodrigo Francisco
Bolea Monte, Yolanda|||0000-0002-7075-9878
Grau Saldes, Antoni|||0000-0003-4112-3325
author_role author
author2 Munguía Alcalá, Rodrigo Francisco
Bolea Monte, Yolanda|||0000-0002-7075-9878
Grau Saldes, Antoni|||0000-0003-4112-3325
author2_role author
author
author
dc.subject.none.fl_str_mv Mobile robots
Optical detectors
Monocular SLAM
robotics
only-bearing sensor.
Robots mòbils
Detectors òptics
Àrees temàtiques de la UPC::Informàtica::Robòtica
topic Mobile robots
Optical detectors
Monocular SLAM
robotics
only-bearing sensor.
Robots mòbils
Detectors òptics
Àrees temàtiques de la UPC::Informàtica::Robòtica
description 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.
publishDate 2013
dc.date.none.fl_str_mv 2013
2013-08-01
2013
2013-10-27
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
VoR
http://purl.org/coar/version/c_970fb48d4fbd8a85
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/20473
https://dx.doi.org/10.5772/56737
url https://hdl.handle.net/2117/20473
https://dx.doi.org/10.5772/56737
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivs 3.0 Spain
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivs 3.0 Spain
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,300724

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