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http://dx.doi.org/10.9717/kmms.2019.22.4.417

An Evaluation System to Determine the Completeness of a Space Map Obtained by Visual SLAM  

Kim, Han Sol (School of Computer Science and Electrical Engineering, Handong Global University)
Kam, Jae Won (School of Computer Science and Electrical Engineering, Handong Global University)
Hwang, Sung Soo (School of Computer Science and Electrical Engineering, Handong Global University)
Publication Information
Journal of Korea Multimedia Society / v.22, no.4, 2019 , pp. 417-423 More about this Journal
Abstract
This paper presents an evaluation system to determine the completeness of a space map obtained by a visual SLAM(Simultaneous Localization And Mapping) algorithm. The proposed system consists of three parts. First, the proposed system detects the occurrence of loop closing to confirm that users acquired the information from all directions. Thereafter, the acquired map is divided with regular intervals and is verified whether each area has enough map points to successfully estimate users' position. Finally, to check the effectiveness of each map point, the system checks whether the map points are identifiable even at the location where there is a large distance difference from the acquisition position. Experimental results show that space maps whose completeness is proven by the proposed system has higher stability and accuracy in terms of position estimation than other maps that are not proven.
Keywords
Visual SLAM; Completeness Determination; Loop Closing; Map Point; Key Frame;
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