NDLI: Robust large scale monocular visual SLAM

Content Provider	IEEE Xplore Digital Library
Author	Bourmaud, G. Megret, R.
Copyright Year	2015
Description	Author affiliation: IMS, Univ. Bordeaux, Talence, France (Bourmaud, G.; Megret, R.)
Abstract	This paper deals with the trajectory estimation of a monocular calibrated camera evolving in a large unknown environment, also known as monocular visual simultaneous localization and mapping. The contribution of this paper is threefold: 1) We develop a new formalism that builds upon the so called Known Rotation Problem to robustly estimate submaps (parts of the camera trajectory and the unknown environment). 2) In order to obtain a globally consistent map (up to a scale factor), we propose a novel loopy belief propagation algorithm that is able to efficiently align a large number of submaps. Our approach builds a graph of relative 3D similarities (computed between the submaps) and estimates the global 3D similarities by passing messages through a super graph until convergence. 3) To render the whole framework more robust, we also propose a simple and efficient outlier removal algorithm that detects outliers in the graph of relative 3D similarities. We extensively demonstrate, on the TUM and KITTI benchmarks as well as on other challenging video sequences, that the proposed method outperforms the state of the art algorithms.
Starting Page	1638
Ending Page	1647
File Size	1060051
Page Count	10
File Format	PDF
ISSN	10636919
e-ISBN	9781467369640
DOI	10.1109/CVPR.2015.7298772
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-06-07
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Three-dimensional displays Cameras Robustness Radio frequency Simultaneous localization and mapping Trajectory Solid modeling
Content Type	Text
Resource Type	Article
Subject	Computer Vision and Pattern Recognition Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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