Monocular SLAM using a rao-blackwellised particle filter with exhaustive pose space search

被引：5
|
作者：
Tomono, Masahiro [1 ]
机构：
[1] Toyo Univ, Dept Syst Robot, Kawagoe, Saitama, Japan
来源：
PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 | 2007年
关键词：
D O I：
10.1109/ROBOT.2007.363682
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a method of 3-D SLAM using a single camera. We utilize a Rao-Blackwellised particle filter (RBPF) to deal with a large number of landmarks. A difficulty in monocular SLAM is robustness to outliers and noise, which may cause false estimates especially under short baseline conditions. We propose an exhaustive pose-space search that finds all the plausible hypotheses efficiently using epipolar geometry. The obtained pose hypotheses are refined by the RBPF. Simulations and experiments show that the proposed method successfully performed 3-D SLAM with a small number of particles.
引用
收藏
页码：2421 / 2426
页数：6
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