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Visual-inertial motion priors for robust monocular SLAM

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dc.contributor.authorQayyum, Usman
dc.contributor.authorKim, Jonghyuk
dc.coverage.spatialSheffield UK
dc.date.accessioned2015-12-07T22:23:32Z
dc.date.createdAugust 31-September 2 2011
dc.date.issued2011
dc.date.updated2016-02-24T08:46:11Z
dc.description.abstractMonocular visual SLAM approaches are mostly constrained in their performance due to general motion model and availability of true scale information. We proposed an approach which improves the motion prediction step of visual SLAM and results in better estimation of map scale. The approach utilizes the short term accuracy of inertial velocity with visual orientation to estimate refined motion priors. These motion priors are fused with sparse number of 3D map features to constraint the positional drift of moving platform. Experimental results are presented on large scale outdoor environment, yielding robust performance and better observability of map scale by monocular SLAM.
dc.identifier.isbn9783642232312
dc.identifier.urihttp://hdl.handle.net/1885/20750
dc.publisherConference Organising Committee
dc.relation.ispartofseriesTowards Autonomous Robotic Systems (TAROS 2011)
dc.sourceLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
dc.source.urihttp://www.scopus.com/inward/record.url?eid=2-s2.0-80052809390&partnerID=40&md5=1afa579eab3798371843790dd5a09c33
dc.subjectKeywords: General motion model; Inertial velocity; Monocular SLAM; Monocular visual SLAM; Motion prediction; Moving platform; Outdoor environment; Robust performance; Short term; Visual SLAM; Robotics
dc.titleVisual-inertial motion priors for robust monocular SLAM
dc.typeConference paper
local.bibliographicCitation.lastpage431
local.bibliographicCitation.startpage430
local.contributor.affiliationQayyum, Usman, College of Engineering and Computer Science, ANU
local.contributor.affiliationKim, Jonghyuk, College of Engineering and Computer Science, ANU
local.contributor.authoruidQayyum, Usman, u4698217
local.contributor.authoruidKim, Jonghyuk, u4259952
local.description.embargo2037-12-31
local.description.notesImported from ARIES
local.identifier.absfor080106 - Image Processing
local.identifier.absseo890202 - Application Tools and System Utilities
local.identifier.ariespublicationf5625xPUB14
local.identifier.doi10.1007/978-3-642-23232-9_62
local.identifier.scopusID2-s2.0-80052809390
local.type.statusPublished Version

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