Pablo F. Alcantarilla, Luis M. Bergasa Department of Electronics, University of Alcalá, Madrid,...
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Transcript of Pablo F. Alcantarilla, Luis M. Bergasa Department of Electronics, University of Alcalá, Madrid,...
Pablo F. Alcantarilla, Luis M. Bergasa Department of Electronics, University of Alcalá, Madrid, Spain
Olivier Stasse, Sebastien DruonJoint Robotics Laboratory, CNRS-AIST, Tsukuba, Japan
Frank DellaertSchool of Interactive Computing, Georgia Institute of Technology, Atlanta, USA
Submission to Autonomous Robots
• STEREO VISUAL SLAM• We learn a 3D map of the environment, by means
of stereo visual SLAM techniques
• MONOCULAR VISION-BASED
LOCALIZATION• Monocular Vision-Based Localization given a prior
3D map and camera poses from a previous 3D reconstruction
• We perform Visibility Prediction to predict the most highly visible 3D points given a prior camera pose
• Then, we establish 2D-3D correspondences between
detected 2D features and 3D map elements
• Finally, after data association we solve the PnP problem
and estimate the localization of the robot in the map
• LOCALIZATION EXPERIMENTS
O Detected 2D Features
+ Visible 3D Map Points Re-Projections
Inlier PnP problem
Outlier PnP problem
+ Predicted Visible 3D Points
+ 3D Map Points
RGB Camera Pose
Robot Trajectory