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Seamless aiding of inertial-slam using Visual Directional Constraints from a monocular vision

Qayyum, Usman; Kim, Jonghyuk


Inertial-SLAM has been actively studied as it can provide all-terrain navigational capability with full six degrees-of-freedom information to autonomous robots. With the recent availability of low-cost inertial and vision sensors, a light-weight and accurate mapping system could be achieved for many robotic tasks such as land/aerial explorations. The key challenge toward this is in the availability of reliable and constant aiding information to correct the inertial system which is intrinsically...[Show more]

CollectionsANU Research Publications
Date published: 2012
Type: Conference paper
DOI: 10.1109/IROS.2012.6385830


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