Recovering Stable Scale in Monocular SLAM Using Object-Supplemented Bundle Adjustment

Without knowledge of the absolute baseline between images, the scale of a map from a single-camera simultaneous localization and mapping system is subject to calamitous drift over time. We describe a monocular approach that in addition to point measurements also considers object detections to resolv...

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Veröffentlicht in:	IEEE transactions on robotics Jg. 34; H. 3; S. 736 - 747
Hauptverfasser:	Frost, Duncan, Prisacariu, Victor, Murray, David
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	New York IEEE 01.06.2018 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:	Bundle adjustment Cameras Drift monocular vision Object detection object recognition Odometers Roads scale drift Simultaneous localization and mapping simultaneous localization and mapping (SLAM) Trajectory
ISSN:	1552-3098, 1941-0468
Online-Zugang:	Volltext
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