In this work we have embodied a full 6DOF SLAM solution into a wearable stereo device working in near realtime. In order to serve on-line metric (map) and positional (localization) to the blind or visually impaired we introduce three basic elements: (i) a real-time egomotion estimation integrating 3D and 2D (appearance) information; (ii) a randomized algorithm for global rectification by entropy minimization; and (iii) a time-dependent view integration strategy for reducing the number of variables and achieving near real-time performance in global rectification. We show successful experimental results which illustrate the capabilities of both the egomotion and the global-rectification algorithm in terms of supporting 6DOF, yielding statistical robustness and enabling scalable solutions.


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    Title :

    First Steps towards Stereo-based 6DOF SLAM for the Visually Impaired


    Contributors:


    Publication date :

    2005-01-01


    Size :

    1016584 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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