Name
Title | ||
|---|---|---|
Design and analysis of a framework for real-time vision-based SLAM using Rao-Blackwellised particle filters |
Abstract | ||
|---|---|---|
This paper addresses the problem of simultaneous localization and mapping (SLAM) using vision-based sensing. We present and analyse an implementation of a Rao- Blackwellised particle filter (RBPF) that uses stereo vision to localize a camera and 3D landmarks as the camera moves through an unknown environment. Our implementation is robust, can operate in real-time, and can operate without odometric or inertial measurements. Furthermore, our approach supports a 6-degree-of-freedom pose representation, vision-based ego-motion estimation, adaptive resampling, monocular operation, and a selection of odometry-based, observation-based, and mixture (combining local and global pose estimation) proposal distributions. This paper also examines the run-time behavior of efficiently designed RBPFs, providing an extensive empirical analysis of the memory and processing characteristics of RBPFs for vision-based SLAM. Finally, we present experimental results demonstrating the accuracy and efficiency of our approach. |
Year | DOI | Venue |
|---|---|---|
2006 | 10.1109/CRV.2006.25 | CRV |
Keywords | Field | DocType |
camera move,rao-blackwellised particle filter,extensive empirical analysis,vision-based slam,inertial measurement,blackwellised particle filter,monocular operation,adaptive resampling,processing characteristic,vision-based ego-motion estimation,real-time vision-based slam,data structures,motion estimation,computer vision,filtering,stereo vision,simultaneous localization and mapping,robustness,degree of freedom,particle filters,pose estimation | Data structure,Computer vision,Pattern recognition,Stereopsis,Computer science,Particle filter,Filter (signal processing),Robustness (computer science),Pose,Artificial intelligence,Monocular,Simultaneous localization and mapping | Conference |
ISBN | Citations | PageRank |
0-7695-2542-3 | 37 | 3.50 |
References | Authors | |
17 | 5 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Robert Sim | 1 | 37 | 3.50 |
| Pantelis Elinas | 2 | 175 | 13.21 |
| Matt Griffin | 3 | 37 | 3.84 |
| Alex Shyr | 4 | 52 | 4.15 |
| James J. Little | 5 | 2430 | 269.59 |