Experiences in Building aVisual SLAM System from Open Source Components

摘要：

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.

作者: Christoph Hertzberg Ren(e) Wagner Oliver Birbach Tobias Hammer Udo Frese

作者单位: FB3 - Mathematik und Informatik,Universit(a)t Bremen,28359 Bremen,Germany Deutsches Forschungszentrum f(u)r K(u)nstliche Intelligenz GmbH,28359 Bremen,Germany Deutsches Forschungszentrum f(u)r K(u)nstliche Intelligenz GmbH,28359 Bremen,Germany FB3 - Mathemati

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 2644-2651

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）