Real-Time Stereo Visual SLAM in Large-Scale Environments Based on SIFT Fingerprints

Schleicher, David; Bergasa, Luis M.; Ocaña, Manuel; Barea, Rafael; López, Elena
Year: 2007
Type of Publication: Article
Keywords: SLAM; Intelligent Vehicles; Computer Vision; Real-Time
Journal: Lecture Notes in Computer Science
Volume: 4739
Number: 2007
Pages: 684-691
Month: November
ISSN: 0302-9743
DOI: 10.1007/978-3-540-75867-9_86
This paper presents a new method for real-time SLAM calculation applied to autonomous robot navigation in large-scale environments without restrictions. It is exclusively based on the visual information provided by a cheap wide-angle stereo camera. Our approach divide the global map into local sub-maps identified by the so-called SIFT fingerprint. At the sub-map level (low level SLAM), 3D sequential mapping of natural land-marks and the robot location/orientation are obtained using a top-down Bayesian method to model the dynamic behavior. A high abstraction level to reduce the global accumulated drift, keeping real-time constraints, has been added (high level SLAM). This uses a correction method based on the SIFT fingerprints taking for each sub-map. A comparison of the low SLAM level using our method and SIFT features has been carried out. Some experimental results using a real large environment are presented.
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