ICRA 2011 Paper Abstract


Paper TuP1-InteracInterac.19

Tykkala, Tommi Mikael (i3s), Comport, Andrew Ian (CNRS)

A Dense Structure Model for Image Based Stereo SLAM

Scheduled for presentation during the Poster Sessions "Interactive Session II: Systems, Control and Automation" (TuP1-InteracInterac), Tuesday, May 10, 2011, 13:40−14:55, Hall

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 March 30, 2020

Keywords SLAM, Space Robotics


In this paper a dense structure model is developed for stereo image based SLAM. It is proposed to model dense environment structure incrementally by robustly integrating disparity maps from current and previous time instants. In this way disparities can be refined over time to favor consistent 3D structure over noise. The analytical search bounds for disparities are transferred into the current map which allow efficient re-localization. The cost function is direct image-based and it is minimized by combining IRLS with exhaustive search for finding motion and disparity parameters.



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