Real-time wide-angle stereo visual SLAM on large environments using SIFT features correction

Schleicher, David; Bergasa, Luis M.; Barea, Rafael; López, Elena; Ocaña, Manuel; Nuevo, Jesús
Year: 2007
Type of Publication: In Proceedings
Keywords: 3D sequential mapping; autonomous robot navigation; features correction; natural land-marks; real-time wide-angle stereo visual SLAM; robot location; robot orientation; top-down Bayesian method; Bayes methods; feature extraction; mobile robots; path planning; robot v
Book title: Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on
Pages: 3878 -3883
Month: nov.
ISBN: 978-1-4244-0912-9
DOI: 10.1109/IROS.2007.4399065
This paper presents a new method for real-time SLAM calculation applied to autonomous robot navigation in large environments without restrictions. It is exclusively based on the 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 SIFT correction method based on the sub-maps' fingerprints. 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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