Abstract:
When targeting embedded applications such as on-board visual localization for small Unmanned Air Vehicles (UAV), available hardware generally becomes a limiting factor. For this reason, the usual strategy is to rely on pure motion integration and/or restricting the size of the map, i.e. performing visual odometry. Moreover, if monocular vision is employed, due to the additional computational cost of stereo vision, this requires dealing with the problem of unknown scale. In this work we discuss how the cost of the tracking task can be reduced without limiting the size of the global map. To do so, the notion of covisibility is strongly used which allows choosing a fixed and optimal set of points to be tracked. Moreover, this work delves into the concept of parallel tracking and mapping and presents some finer parallelization opportunities. Finally, we show how these strategies improve the computational times of a stereo visual SLAM framework called S-PTAM running on-board an embedded computer, close to camera frame-rates and with negligible precision loss. © 2017 IEEE.
Registro:
| Documento: |
Conferencia
|
| Título: | Constrained-covisibility marginalization for efficient on-board stereo SLAM |
| Autor: | Nitsche, M.A.; Castro, G.I.; Pire, T.; Fischer, T.; De Cristoforis, P. |
| Filiación: | ICC, Computer Science Research Institute (CONICET-UBA), Argentina
CIFASIS, French Argentine International Center for Information and Systems Sciences (CONICET-UNR), Argentina
|
| Palabras clave: | Mobile robots; Stereo image processing; Unmanned aerial vehicles (UAV); Vision; Computational costs; Computational time; Embedded application; Embedded computers; Monocular vision; Parallelizations; Unmanned air vehicles; Visual localization; Stereo vision |
| Año: | 2017
|
| DOI: |
http://dx.doi.org/10.1109/ECMR.2017.8098655 |
| Título revista: | 2017 European Conference on Mobile Robots, ECMR 2017
|
| Título revista abreviado: | European Conf. Mob. Robots, ECMR
|
| Registro: | https://bibliotecadigital.exactas.uba.ar/collection/paper/document/paper_97815386_v_n_p_Nitsche |
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Citas:
---------- APA ----------
Nitsche, M.A., Castro, G.I., Pire, T., Fischer, T. & De Cristoforis, P.
(2017)
. Constrained-covisibility marginalization for efficient on-board stereo SLAM. 2017 European Conference on Mobile Robots, ECMR 2017.
http://dx.doi.org/10.1109/ECMR.2017.8098655---------- CHICAGO ----------
Nitsche, M.A., Castro, G.I., Pire, T., Fischer, T., De Cristoforis, P.
"Constrained-covisibility marginalization for efficient on-board stereo SLAM"
. 2017 European Conference on Mobile Robots, ECMR 2017
(2017).
http://dx.doi.org/10.1109/ECMR.2017.8098655---------- MLA ----------
Nitsche, M.A., Castro, G.I., Pire, T., Fischer, T., De Cristoforis, P.
"Constrained-covisibility marginalization for efficient on-board stereo SLAM"
. 2017 European Conference on Mobile Robots, ECMR 2017, 2017.
http://dx.doi.org/10.1109/ECMR.2017.8098655---------- VANCOUVER ----------
Nitsche, M.A., Castro, G.I., Pire, T., Fischer, T., De Cristoforis, P. Constrained-covisibility marginalization for efficient on-board stereo SLAM. European Conf. Mob. Robots, ECMR. 2017.
http://dx.doi.org/10.1109/ECMR.2017.8098655