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Real-time simultaneous localisation and mapping with a single camera (2003)
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BibTeX
@INPROCEEDINGS{Davison03real-timesimultaneous,
author = {Andrew J. Davison},
title = {Real-time simultaneous localisation and mapping with a single camera},
booktitle = {},
year = {2003},
pages = {1403--1410}
}
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Abstract
Ego-motion estimation for an agile single camera moving through general, unknown scenes becomes a much more challenging problem when real-time performance is required rather than under the off-line processing conditions under which most successful structure from motion work has been achieved. This task of estimating camera motion from measurements of a continuously expanding set of selfmapped visual features is one of a class of problems known as Simultaneous Localisation and Mapping (SLAM) in the robotics community, and we argue that such real-time mapping research, despite rarely being camera-based, is more relevant here than off-line structure from motion methods due to the more fundamental emphasis placed on propagation of uncertainty. We present a top-down Bayesian framework for singlecamera localisation via mapping of a sparse set of natural features using motion modelling and an informationguided active measurement strategy, in particular addressing the difficult issue of real-time feature initialisation via a factored sampling approach. Real-time handling of uncertainty permits robust localisation via the creating and active measurement of a sparse map of landmarks such that regions can be re-visited after periods of neglect and localisation can continue through periods when few features are visible. Results are presented of real-time localisation for a hand-waved camera with very sparse prior scene knowledge and all processing carried out on a desktop PC. 1
Keyphrases
single camera real-time simultaneous localisation desktop pc real-time feature initialisation challenging problem top-down bayesian framework motion modelling unknown scene motion method singlecamera localisation successful structure informationguided active measurement strategy active measurement robotics community camera motion selfmapped visual feature hand-waved camera simultaneous localisation motion work sparse map agile single camera sparse prior scene knowledge uncertainty permit robust localisation off-line structure sparse set fundamental emphasis difficult issue natural feature factored sampling approach ego-motion estimation real-time mapping research real-time performance real-time handling real-time localisation off-line processing condition
