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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Bibliographic Details

Published in:	IEEE transactions on robotics Vol. 34; no. 3; pp. 736 - 747
Main Authors:	Frost, Duncan, Prisacariu, Victor, Murray, David
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.06.2018 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	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 Access:	Get full text
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