Monocular SLAM for visual odometry: a full approach to the delayed inverse-depth feature initialization method

Copyright 2012: R. Munguía and A. Grau. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Detalhes bibliográficos
Autores: Munguía Alcalá, Rodrigo Francisco, Grau Saldes, Antoni|||0000-0003-4112-3325
Formato: artículo
Fecha de publicación:2012
País:España
Recursos:Universitat Politècnica de Catalunya (UPC)
Repositorio:UPCommons. Portal del coneixement obert de la UPC
Idioma:inglés
OAI Identifier:oai:upcommons.upc.edu:2117/16479
Acesso em linha:https://hdl.handle.net/2117/16479
https://dx.doi.org/10.1155/2012/676385
Access Level:acceso abierto
Palavra-chave:Mobile robots
Robot vision
Simultaneous localization and mapping
SLAM
Monocular vision
Visual odometry
Delayed Inverse-Depth Feature Initialization Method
Robots mòbils
Visió artificial (Robòtica)
Àrees temàtiques de la UPC::Informàtica::Robòtica
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oai_identifier_str oai:upcommons.upc.edu:2117/16479
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repository_id_str
spelling Monocular SLAM for visual odometry: a full approach to the delayed inverse-depth feature initialization methodMunguía Alcalá, Rodrigo FranciscoGrau Saldes, Antoni|||0000-0003-4112-3325Mobile robotsRobot visionSimultaneous localization and mappingSLAMMonocular visionVisual odometryDelayed Inverse-Depth Feature Initialization MethodRobots mòbilsVisió artificial (Robòtica)Àrees temàtiques de la UPC::Informàtica::RobòticaCopyright 2012: R. Munguía and A. Grau. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.This paper describes in a detailed manner a method to implement a simultaneous localization and mapping SLAM system based on monocular vision for applications of visual odometry, appearance-based sensing, and emulation of range-bearing measurements. SLAM techniques are required to operate mobile robots in a priori unknown environments using only on-board sensors to simultaneously build a map of their surroundings; this map will be needed for the robot to track its position. In this context, the 6-DOF degree of freedom monocular camera case monocular SLAM possibly represents the harder variant of SLAM. In monocular SLAM, a single camera, which is freely moving through its environment, represents the sole sensory input to the system. The method proposed in this paper is based on a technique called delayed inverse-depth feature initialization, which is intended to initialize new visual features on the system. In this work, detailed formulation, extended discussions, and experiments with real data are presented in order to validate and to show the performance of the proposal.Peer Reviewed20122012-09-0120122012-09-13journal articlehttp://purl.org/coar/resource_type/c_6501VoRhttp://purl.org/coar/version/c_970fb48d4fbd8a85info:eu-repo/semantics/articleapplication/pdfhttps://hdl.handle.net/2117/16479https://dx.doi.org/10.1155/2012/676385reponame: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:2117/164792026-05-27T15:37:01Z
dc.title.none.fl_str_mv Monocular SLAM for visual odometry: a full approach to the delayed inverse-depth feature initialization method
title Monocular SLAM for visual odometry: a full approach to the delayed inverse-depth feature initialization method
spellingShingle Monocular SLAM for visual odometry: a full approach to the delayed inverse-depth feature initialization method
Munguía Alcalá, Rodrigo Francisco
Mobile robots
Robot vision
Simultaneous localization and mapping
SLAM
Monocular vision
Visual odometry
Delayed Inverse-Depth Feature Initialization Method
Robots mòbils
Visió artificial (Robòtica)
Àrees temàtiques de la UPC::Informàtica::Robòtica
title_short Monocular SLAM for visual odometry: a full approach to the delayed inverse-depth feature initialization method
title_full Monocular SLAM for visual odometry: a full approach to the delayed inverse-depth feature initialization method
title_fullStr Monocular SLAM for visual odometry: a full approach to the delayed inverse-depth feature initialization method
title_full_unstemmed Monocular SLAM for visual odometry: a full approach to the delayed inverse-depth feature initialization method
title_sort Monocular SLAM for visual odometry: a full approach to the delayed inverse-depth feature initialization method
dc.creator.none.fl_str_mv Munguía Alcalá, Rodrigo Francisco
Grau Saldes, Antoni|||0000-0003-4112-3325
author Munguía Alcalá, Rodrigo Francisco
author_facet Munguía Alcalá, Rodrigo Francisco
Grau Saldes, Antoni|||0000-0003-4112-3325
author_role author
author2 Grau Saldes, Antoni|||0000-0003-4112-3325
author2_role author
dc.subject.none.fl_str_mv Mobile robots
Robot vision
Simultaneous localization and mapping
SLAM
Monocular vision
Visual odometry
Delayed Inverse-Depth Feature Initialization Method
Robots mòbils
Visió artificial (Robòtica)
Àrees temàtiques de la UPC::Informàtica::Robòtica
topic Mobile robots
Robot vision
Simultaneous localization and mapping
SLAM
Monocular vision
Visual odometry
Delayed Inverse-Depth Feature Initialization Method
Robots mòbils
Visió artificial (Robòtica)
Àrees temàtiques de la UPC::Informàtica::Robòtica
description Copyright 2012: R. Munguía and A. Grau. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
publishDate 2012
dc.date.none.fl_str_mv 2012
2012-09-01
2012
2012-09-13
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/2117/16479
https://dx.doi.org/10.1155/2012/676385
url https://hdl.handle.net/2117/16479
https://dx.doi.org/10.1155/2012/676385
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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