Work

On augmenting the visual slam with direct orientation measurement using the 5-point algorithm

Year: 2013

Type: article

Abstract: This paper presents the attempt to merge two paradigms of the visual robot navigation: Visual Simultaneous Localization and Mapping (VSLAM) and Visual Odometry (VO). The VSLAM was augmented with the direct, visual measurement of the robot orientation change using the 5-point algorithm. The extended movement model of the robot was proposed and additional measurements were introduced to the SLAM system. The efficiency of the 5-point and 8-point algorithms was compared. The augmented system was compared with the state of the art VSLAM solution and the proposed modification allowed to reduce the tracking error by over 30%.

Source: Journal of Automation Mobile Robotics & Intelligent Systems

Authors: Adam Schmidt, Amy L. Kraft, Michał Fularz, Zuzanna Domagała

Language: English

Topic: Robotics and Sensor-Based Localization

Subfield: Computer Vision and Pattern Recognition

Field: Computer Science

Domain: Physical Sciences

Open Access status: diamond

OpenAlex ID: W789747439

FWCI: 0.64

Cites: 14

Cited by: 2

Related to: 10