Improved Inverse-Depth Parameterization for Monocular Simultaneous Localization and Mapping

Imre, E, Berger, MO and Noury, N (2009) Improved Inverse-Depth Parameterization for Monocular Simultaneous Localization and Mapping

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Abstract

Inverse-depth parameterization can successfully deal with the feature initialization problem in monocular simultaneous localization and mapping applications. However, It is redundant, and when multiple landmarks are initialized from the same image, it fails to enforce the "common origin" constraint. The authors propose two new variants that addresses both of these issues. The experimental results indicate that the proposed approach achieves a better performance at a lower computational cost.

Item Type:	Conference or Workshop Item (UNSPECIFIED)
Divisions :	Surrey research (other units)
Authors :	Imre, E, Berger, MO and Noury, N
Date :	2009
DOI :	10.1109/ROBOT.2009.5152481
Contributors :	Contribution Name Email ORCID publisher IEEE,
Depositing User :	Symplectic Elements
Date Deposited :	17 May 2017 11:25
Last Modified :	23 Jan 2020 16:50
URI:	http://epubs.surrey.ac.uk/id/eprint/831281

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