Browse > Article
http://dx.doi.org/10.3795/KSME-A.2015.39.5.483

Real-time Simultaneous Localization and Mapping (SLAM) for Vision-based Autonomous Navigation  

Lim, Hyon (Dept. of Mechanical and Aerospace Engineering, Seoul Nat'l Univ.)
Lim, Jongwoo (Division of Computer Science and Engineering, Hanyang Univ.)
Kim, H. Jin (Dept. of Mechanical and Aerospace Engineering, Seoul Nat'l Univ.)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.39, no.5, 2015 , pp. 483-489 More about this Journal
Abstract
In this paper, we propose monocular visual simultaneous localization and mapping (SLAM) in the large-scale environment. The proposed method continuously computes the current 6-DoF camera pose and 3D landmarks position from video input. The proposed method successfully builds consistent maps from challenging outdoor sequences using a monocular camera as the only sensor. By using a binary descriptor and metric-topological mapping, the system demonstrates real-time performance on a large-scale outdoor dataset without utilizing GPUs or reducing input image size. The effectiveness of the proposed method is demonstrated on various challenging video sequences.
Keywords
Simultaneous Localization and Mapping; Autonomous Navigation;
Citations & Related Records
연도 인용수 순위
  • Reference
1 Geiger, A., Lenz, P. and Urtasun, R., 2012, "Are We Ready for Autonomous Driving? the Kitti Vision Benchmark Suite," in CVPR. IEEE, pp. 3354-3361.
2 Davison, A. J., 2003, "Real-time Simultaneous Localisation and Mapping with a Single Camera," in ICCV. IEEE, pp. 1403-1410.
3 Klein, G. and Murray, D., 2007, "Parallel Tracking and Mapping for Small AR Workspaces," in ISMAR. IEEE.
4 Strasdat, H., Montiel, J. and Davison, A., 2010, "Scale Drift-Aware Large Scale Monocular Slam," in Proceedings of Robotics: Science and Systems (RSS), p. 5.
5 Strasdat, H., Montiel, J. and Davison, A. J., 2010, "Real-time Monocular Slam: Why Filter?" in ICRA. IEEE, pp. 2657-2664.
6 Nister, D., Naroditsky, O. and Bergen, J., 2004, "Visual Odometry," in CVPR IEEE, 2004., Vol. 1, pp. 1-652.
7 Mouragnon, E., Lhuillier, M., Dhome, M., Dekeyser, F. and Sayd, P., 2006, "Real Time Localization and 3D Reconstruction," in CVPR IEEE, Vol. 1, pp. 363-370.
8 Konolige, K. and Agrawal, M., 2008, "Frameslam: from Bundle Adjustment to Real-time Visual Mapping," Robotics, IEEE Transactions on, Vol. 24, No. 5, pp. 1066-1077.   DOI   ScienceOn
9 Snavely, N., Seitz, S. M. and Szeliski, R., 2008, "Skeletal Graphs for Efficient Structure from Motion," in CVPR, Vol. 2.
10 Kuemmerle, R., Grisetti, G., Strasdat, H., Konolige, K. and Burgard, W., 2011, "g2o: A General Framework for Graph Optimization," in ICRA.
11 Lim, J., Frahm, J.-M. and Pollefeys, M., 2011, "Online Environment Mapping," in CVPR. IEEE, pp. 3489-3496.
12 Strasdat, H., Davison, A. J., Montiel, J. and Konolige, K., 2011, "Double Window Optimisation for Constant Time Visual Slam," in ICCV. IEEE, pp. 2352-2359.
13 Engels, C., Stewenius, H. and Nister, D., 2006, "Bundle Adjustment Rules," Photogrammetric Computer Vision, Vol. 2.
14 Cummins, M. and Newman, P., 2008, "Fab-map: Probabilistic Localization and Mapping in the Space of Appearance," The International Journal of Robotics Research, Vol. 27, No. 6, pp. 647-665.   DOI
15 Williams, B. and Reid, I., 2010, "On Combining Visual Slam and Visual Odometry," in Robotics and Automation (ICRA), 2010 IEEE International Conference on. IEEE, pp. 3494-3500.
16 Nister, D. and Stewenius, H., 2006, "Scalable Recognition with a Vocabulary Tree," in CVPR. IEEE.
17 Calonder, M., Lepetit, V., Strecha, C. and Fua, P., 2010, "Brief: Binary Robust Independent Elementary Features," Computer Vision-ECCV 2010, pp. 778-792.
18 Galvez-Lopez, D. and Tardos, J. D., 2011, "Realtime Loop Detection with Bags of Binary Words," in IROS. IEEE, pp. 51-58.
19 Mei, C., Sibley, G., Cummins, M., Newman, P. and Reid, I., 2011, "Rslam: A System for Large-Scale Mapping in Constant-time Using Stereo," International Journal of Computer Vision, Vol. 94, No. 2, pp. 198-214.   DOI
20 Rosten, E. and Drummond, T., 2006, "Machine Learning for High-speed Corner Detection," in ECCV. Springer,
21 Lowe, D. G., 2004, "Distinctive Image Features from Scale-Invariant Keypoints," IJCV, Vol. 60, No. 2, pp. 91-110.   DOI
22 Bay, H., Tuytelaars, T. and Van Gool, L., 2006, "Surf: Speeded up Robust Features," in ECCV. Springer, pp. 404-417.
23 Lucas, B. D., Kanade, T., 1981, "An Iterative Image Registration Technique with an Application to Stereo Vision." in IJCAI, Vol. 81, pp. 674-679.
24 Nister, D., 2004, "An Efficient Solution to the Five-point Relative Pose Problem," PAMI, Vol. 26, No. 6, pp. 756-770.   DOI   ScienceOn
25 Fischler, M. A. and Bolles, R. C., 1981, "Random Sample Consensus: A Paradigm for Model Fitting with Applications to Image Analysis and Automated Cartography," Communications of the ACM, Vol. 24, No. 6, pp. 381-395.   DOI   ScienceOn
26 Geiger, A., Ziegler, J. and Stiller, C., 2011, "Stereoscan: Dense 3d Reconstruction in Real-time," in Intelligent Vehicles Symposium (IV), IEEE, pp. 963-968.
27 Kneip, L., Scaramuzza, D. and Siegwart, R., 2011, "A Novel Parametrization of the Perspective-Threepoint Problem for a Direct Computation of Absolute Camera Position and Orientation," in CVPR. IEEE, pp. 2969-2976.
28 Lim, J., Frahm, J.-M. and Pollefeys, M., 2012, "Online Environment Mapping Using Metrictopological Maps," The International Journal of Robotics Research, Vol. 31, No. 12, pp. 1394-1408.   DOI   ScienceOn
29 Agarwal, S., Mierle, K. and Others, "Ceres Solver," https://code.google.com/p/ceres-solver/.