NDLI: On combining visual SLAM and visual odometry

Content Provider	IEEE Xplore Digital Library
Author	Williams, B. Reid, I.
Copyright Year	2010
Description	Author affiliation: Department of Engineering Science, University of Oxford, Parks Road, United Kingdom (Williams, B.; Reid, I.)
Abstract	Sequential monocular SLAM systems perform drift free tracking of the pose of a camera relative to a jointly estimated map of landmarks. To allow real-time operation in moderately sized environments, the map is kept quite spare with usually only tens of landmarks visible in each frame. In contrast, visual odometry techniques track hundreds of visual features per frame. This leads to a very accurate estimate of the relative camera motion, but without a persistent map, the estimate tends to drift over time. We demonstrate a new monocular SLAM system which combines the benefits of these two techniques. In addition to maintaining a sparse map of landmarks in the world, our system finds as many inter-frame point matches as possible. These point matches provide additional constraints on the inter-frame motion of the camera leading to a more accurate pose estimate, and, since they are not maintained as full map landmarks, they do not cause a large increase in the computational cost. Our results in both a simulated environment and in real video demonstrate the improvement in estimation accuracy gained by the inclusion of visual odometry style observations. The constraints available from pairwise point matches are most naturally cast in the context of a camera-centric rather than world-centric frame. To that end we recast the usual world-centric EKF implementation of visual SLAM in a robo-centric frame. We show that this robo-centric visual SLAM, as expected, leads to the estimated uncertainty more closely matching the ideal uncertainty; i.e., that robo-centric visual SLAM yields a more consistent estimate than the traditional world-centric EKF algorithm.
Starting Page	3494
Ending Page	3500
File Size	1444952
Page Count	7
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509248
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Simultaneous localization and mapping Cameras Motion estimation Yield estimation Uncertainty Layout Geometry Filters Robotics and automation USA Councils
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering 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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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