We are developing a visual SLAM approach for highly automated vehicles, mainly using monocular cameras, which makes it independent of other sensors and allows for redundant solutions. Furthermore, it simplifies extrinsic calibration and time synchronization issues. Therefore, we target a single-shot and real-time capable algorithm, which is deterministic, robust to environment structures, and complemented by confidence levels. Our cost-effective solution generates a 3D map of the environment, in which the vehicle can precisely determine its position. In the future, this can be used to supplement LiDAR systems in highly automated vehicles or even replace them in parts. In this paper, we present our recent progress in developing a robust single-shot monocular SLAM system.


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    Title :

    Towards Robust Single-Shot Monocular SLAM


    Additional title:

    Proceedings


    Contributors:

    Conference:

    International ATZ Conference ; 2022 ; Wiesbaden, Deutschland April 05, 2022 - April 06, 2022


    Published in:

    Automatisiertes Fahren 2022 ; Chapter : 2 ; 15-23


    Publication date :

    2024-07-02


    Size :

    9 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    German





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