© 20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. ; The lack of depth information in camera images has triggered much work on their use for localization and mapping in robotics. In particular, specific landmark parametrizations that isolate the unknown depth in one variable, and that allows to handle the associated large uncertainties have been proposed. Recently, an innovative parametrization (Parallax Angle) has shown to outperform the others in the context of a Bundle Adjustment approach. This paper investigates the way to exploit this parametrization in an incremental graph-based SLAM approach, in a robotics context in which motions measures can be incorporated in the overall estimation. It presents the factors required to initialize landmarks and manage their observations. Simulation results show that the proposed algorithms are able to incrementally incorporate observations, and a discussion analyzes how the incremental updates on ISAM2 are affected by these new factors. ; Peer Reviewed ; Postprint (author's final draft)


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Parallax angle parametrization in incremental SLAM



    Erscheinungsdatum :

    2016-01-01



    Medientyp :

    Sonstige


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629




    Impact of Landmark Parametrization on Monocular EKF-SLAM with Points and Lines

    Solà, J. / Vidal-Calleja, T. / Civera, J. et al. | British Library Online Contents | 2012


    Parallax calculation method and parallax calculation device

    NANRI TAKUYA / NISHIMURA HIROFUMI | Europäisches Patentamt | 2016

    Freier Zugriff

    PARALLAX DETECTION DEVICE

    ISHIMARU KAZUHISA / SHIRAI NORIAKI / MITA SEIICHI et al. | Europäisches Patentamt | 2017

    Freier Zugriff

    Rapidly-Indexing Incremental-Angle Encoder

    Christon, Philip R. / Meyer, Wallace W. | NTRS | 1989


    PARALLAX IMAGE GENERATION DEVICE

    OGAWA MASAHIRO | Europäisches Patentamt | 2016

    Freier Zugriff