3D SLAM Using a Stereo Camera Based on Edge Point Tracking
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- Tomono Masahiro
- Future Robotics Technology Center, Chiba Institute of Technology
Bibliographic Information
- Other Title
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- エッジ点追跡に基づくステレオカメラを用いた三次元SLAM
- エッジテン ツイセキ ニ モトズク ステレオカメラ オ モチイタ 3ジゲン SLAM
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Abstract
Most vision-based SLAM systems utilize corner-like features, and may be unstable in non-textured environments where only a few corner-like features can be extracted. To cope with this problem, we employ edge points to perform SLAM with a stereo camera. The edge-point based SLAM is applicable to non-textured environments since plenty of edge points can be obtained even from a small number of lines. The proposed method estimates camera poses and builds detailed 3D maps robustly by aligning edge points between frames using the ICP algorithm. In indoor and outdoor experiments, the method successfully built detailed 3D maps.
Journal
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- Journal of the Robotics Society of Japan
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Journal of the Robotics Society of Japan 27 (7), 759-767, 2011
The Robotics Society of Japan
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Details 詳細情報について
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- CRID
- 1390001204727757952
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- NII Article ID
- 10025114257
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- NII Book ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL BIB ID
- 10373978
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed