NDLI: Exploiting vehicle motion information in monocular SLAM

Content Provider	IEEE Xplore Digital Library
Author	Zhan Wang Dissanayake, G.
Copyright Year	2012
Description	Author affiliation: Faculty of Engineering and Information Technology, University of Technology, Sydney, Sydney, Australia (Zhan Wang; Dissanayake, G.)
Abstract	It is now well known that increasing the number of features maintained in the mapping process of the monocular SLAM improves the accuracy of the outcome. This, however, increases the state dimension and the associated computational cost. This paper investigates and evaluates the improvement on SLAM results by exploiting camera motion information. For a camera mounted on a vehicle, its motion is subject to the vehicle motion model. The work of this paper shows that by introducing relative pose constraints calculated from image points by considering the underlying vehicle motion model (for example the non-holonomic vehicle motion model), it is possible to incorporate vehicle motion information into the system and achieve even more accurate SLAM results than maintaining all extracted features in the map. It is demonstrated that in this process, the state dimension is not increased, and the sparse structure of the SLAM problem is maintained. So the underlying sparseness in the SLAM problem structure can still be exploited for computational efficiency. Simulation and experiment results are presented to demonstrate the relative merits of incorporating vehicle motion information for motion estimation and mapping.
Starting Page	1030
Ending Page	1035
File Size	207898
Page Count	6
File Format	PDF
ISBN	9781467318716
e-ISBN	9781467318723
e-ISBN	9781467318709
DOI	10.1109/ICARCV.2012.6485299
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-12-05
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cameras Vehicles Simultaneous localization and mapping Feature extraction Vectors Equations Mathematical model
Content Type	Text
Resource Type	Article

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
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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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