IDEAS home Printed from https://ideas.repec.org/a/hin/jnlmpe/676385.html
   My bibliography  Save this article

Monocular SLAM for Visual Odometry: A Full Approach to the Delayed Inverse-Depth Feature Initialization Method

Author

Listed:
  • Rodrigo Munguía
  • Antoni Grau

Abstract

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.

Suggested Citation

  • Rodrigo Munguía & Antoni Grau, 2012. "Monocular SLAM for Visual Odometry: A Full Approach to the Delayed Inverse-Depth Feature Initialization Method," Mathematical Problems in Engineering, Hindawi, vol. 2012, pages 1-26, September.
    • Handle: RePEc:hin:jnlmpe:676385
    DOI: 10.1155/2012/676385
    as

    Download full text from publisher

    File URL: http://downloads.hindawi.com/journals/MPE/2012/676385.pdf
    Download Restriction: no
    File URL: http://downloads.hindawi.com/journals/MPE/2012/676385.xml
    Download Restriction: no
    File URL: https://libkey.io/10.1155/2012/676385?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    More about this item

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:hin:jnlmpe:676385. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Mohamed Abdelhakeem (email available below). General contact details of provider: https://www.hindawi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.