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Department空天光电技术事业部
Scale Estimation and Correction of the Monocular Simultaneous Localization and Mapping (SLAM) Based on Fusion of 1D Laser Range Finder and Vision Data
Zhang, Zhuang1,2; Zhao, Rujin1; Liu, Enhai1; Yan, Kun1,2; Ma, Yuebo1,2
Source PublicationSENSORS
Volume18Issue:6Pages:1948
2018-06-01
Language英语
ISSN1424-8220
DOI10.3390/s18061948
Indexed BySCI ; Ei
WOS IDWOS:000436774300282
EI Accession Number20182505351002
SubtypeJ
AbstractThis article presents a new sensor fusion method for visual simultaneous localization and mapping (SLAM) through integration of a monocular camera and a 1D-laser range finder. Such as a fusion method provides the scale estimation and drift correction and it is not limited by volume, e.g., the stereo camera is constrained by the baseline and overcomes the limited depth range problem associated with SLAM for RGBD cameras. We first present the analytical feasibility for estimating the absolute scale through the fusion of 1D distance information and image information. Next, the analytical derivation of the laser-vision fusion is described in detail based on the local dense reconstruction of the image sequences. We also correct the scale drift of the monocular SLAM using the laser distance information which is independent of the drift error. Finally, application of this approach to both indoor and outdoor scenes is verified by the Technical University of Munich dataset of RGBD and self-collected data. We compare the effects of the scale estimation and drift correction of the proposed method with the SLAM for a monocular camera and a RGBD camera.
KeywordSLAM sensors fusion scale estimation mapping
WOS KeywordINVERSE DEPTH
EI KeywordsCameras ; Image fusion ; Mapping ; Radar equipment ; Robotics ; Stereo image processing
EI Classification Number405.3 Surveying ; 716.2 Radar Systems and Equipment ; 723.2 Data Processing and Image Processing ; 731.5 Robotics ; 742.2 Photographic Equipment
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Cited Times:4[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ioe.ac.cn/handle/181551/9367
Collection空天光电技术事业部
Affiliation1.Institute of Optics and Electronics of Chinese Academy of Sciences, Chengdu; 610209, China;
2.University of Chinese Academy of Sciences, Beijing; 100149, China
Recommended Citation
GB/T 7714
Zhang, Zhuang,Zhao, Rujin,Liu, Enhai,et al. Scale Estimation and Correction of the Monocular Simultaneous Localization and Mapping (SLAM) Based on Fusion of 1D Laser Range Finder and Vision Data[J]. SENSORS,2018,18(6):1948.
APA Zhang, Zhuang,Zhao, Rujin,Liu, Enhai,Yan, Kun,&Ma, Yuebo.(2018).Scale Estimation and Correction of the Monocular Simultaneous Localization and Mapping (SLAM) Based on Fusion of 1D Laser Range Finder and Vision Data.SENSORS,18(6),1948.
MLA Zhang, Zhuang,et al."Scale Estimation and Correction of the Monocular Simultaneous Localization and Mapping (SLAM) Based on Fusion of 1D Laser Range Finder and Vision Data".SENSORS 18.6(2018):1948.
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