6533b831fe1ef96bd129991c

RESEARCH PRODUCT

SAMSLAM: Simulated Annealing Monocular SLAM

Fabio BellaviaCarlo ColomboFabio PazzagliaMarco Fanfani

subject

3D RegistrationSettore ING-INF/05 - Sistemi Di Elaborazione Delle InformazioniRANSACSettore INF/01 - InformaticaComputer scienceDisparityComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISIONReprojection errorLimitingStructure from MotionPose EstimationLoop closureComputer Science::Computer Vision and Pattern RecognitionSLAMSimulated annealingImage pairMonocular slamSimulated AnnealingConstant (mathematics)Global optimizationAlgorithmVisual SLAMFeature Matching

description

This paper proposes a novel monocular SLAM approach. For a triplet of successive keyframes, the approach inteleaves the registration of the three 3D maps associated to each image pair in the triplet and the refinement of the corresponding poses, by progressively limiting the allowable reprojection error according to a simulated annealing scheme. This approach computes only local overlapping maps of almost constant size, thus avoiding problems of 3D map growth. It does not require global optimization, loop closure and back-correction of the poses.

yearjournalcountryeditionlanguage
2013-01-01
https://doi.org/10.1007/978-3-642-40246-3_64