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Passive Initialization Method Based on Motion Characteristics for Monocular SLAM
Joint Authors
Jie, Li
Yang, Chengwei
Yang, Yu
Xiong, Jing
She, Xiaoyu
Liu, Chang
Source
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-02-05
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
Visual SLAM techniques have proven to be effective methods for estimating robust position and attitude in the field of robotics.
However, current monocular SLAM algorithms cannot guarantee timeliness of system startup due to the problematic initialization time and the low success rates.
This paper introduces a rectilinear platform motion hypothesis and thereby converts the estimation problem into a verification problem to achieve fast monocular SLAM initialization.
The proposed method is simulation tested on a fixed-wing UAV.
Tests show that the proposed method can produce faster initialization of visual SLAM and that the advantages are more profound on systems with sparse image features.
American Psychological Association (APA)
Yang, Yu& Xiong, Jing& She, Xiaoyu& Liu, Chang& Yang, Chengwei& Jie, Li. 2019. Passive Initialization Method Based on Motion Characteristics for Monocular SLAM. Complexity،Vol. 2019, no. 2019, pp.1-11.
https://search.emarefa.net/detail/BIM-1132838
Modern Language Association (MLA)
Yang, Yu…[et al.]. Passive Initialization Method Based on Motion Characteristics for Monocular SLAM. Complexity No. 2019 (2019), pp.1-11.
https://search.emarefa.net/detail/BIM-1132838
American Medical Association (AMA)
Yang, Yu& Xiong, Jing& She, Xiaoyu& Liu, Chang& Yang, Chengwei& Jie, Li. Passive Initialization Method Based on Motion Characteristics for Monocular SLAM. Complexity. 2019. Vol. 2019, no. 2019, pp.1-11.
https://search.emarefa.net/detail/BIM-1132838
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1132838