NDLI: Removing scale biases and ambiguity from 6DoF monocular SLAM using inertial

Content Provider	IEEE Xplore Digital Library
Author	Lupton, T. Sukkarieh, S.
Copyright Year	2008
Description	Author affiliation: ARC Centre for Excellence in Autonomous Syst., Univ. of Sydney, Sydney, NSW (Lupton, T.; Sukkarieh, S.)
Abstract	This paper identifies various scale factor biases commonly introduced into monocular SLAM implementations as a result of the true scale factor of the map not being observable. A way to make the scale factor observable and remove any scale biases via the use of an inertial measurement unit (IMU) is presented and implemented. Results show that with an IMU the true scale of the map becomes observable over time and the use of a square root information filter allows the effect of initial scale biases to be removed completely from the solution resulting in an unbiased solution no matter what the initial scale assumptions are.
Starting Page	3698
Ending Page	3703
File Size	395677
Page Count	6
File Format	PDF
ISBN	9781424416462
ISSN	10504729
DOI	10.1109/ROBOT.2008.4543778
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-05-19
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Simultaneous localization and mapping Cameras Acceleration Measurement units Costs Information filters Accelerometers Delay estimation Robotics and automation USA Councils
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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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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