ICRA 2011 Paper Abstract


Paper WeA105.3

Hertzberg, Christoph (Universität Bremen), Wagner, René (Deutsches Forschungszentrum für Künstliche Intelligenz GmbH), Birbach, Oliver (DFKI), Hammer, Tobias (Universität Bremen), Frese, Udo (Universität Bremen)

Experiences in Building a Visual SLAM System from Open Source Components

Scheduled for presentation during the Regular Sessions "SLAM I" (WeA105), Wednesday, May 11, 2011, 08:50−09:05, Room 3G

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords SLAM, Visual Navigation, Search and Rescue Robots


This paper shows that the field of visual SLAM has matured enough to build a visual SLAM system from open source components. The system consists of feature detection, data association, and sparse bundle adjustment. For all three modules we evaluate different libraries w.r.t. ground truth.

We also present an extension of the SLAM system to create dense voxel-maps. It employs dense stereo-matching and volumetric mapping using the poses obtained from bundle adjustment, both implemented with open source libraries.

Apart from quantitative comparison we also report on specific experiences with the various libraries.



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