A Dense Structure Model for Image Based Stereo SLAM
In this paper a dense structure model is developed for stereo image based Simultaneous Localization And Mapping (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 to allow efficient re-localization. The cost function is image-based and it is minimized by combining Iteratively Reweighted Least-Squares (IRLS) with exhaustive search for finding motion and disparity parameters respectively.
Tommi Tykk(a)l(a) Andrew I. Comport
I3S UNSA CNRS,2000 Route des Lucioles,06903 Sophia-Antipolis Cedex,France
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
1758-1763
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）