UM
Conditional simultaneous localization and mapping: A robust visual SLAM system
Liu J.3; Liu D.1; Cheng J.2; Tang Y.4
2014-12-05
Source PublicationNeurocomputing
ISSN18728286 09252312
Volume145Pages:269-284
AbstractVisual simultaneous localization and mapping (VSLAM) is becoming increasingly popular in research and industry as a solution for mapping an unknown environment with moving cameras. However, classic methods such as the Extended Kalman Filter (EKF)-based VSLAM have two significant limitations: First, their robustness and accuracy drop dramatically when low frame rate cameras are used or sudden changes in camera velocity occur. Second, their dynamic models are expensive to build, or are too simple to simulate complex movements. In this paper, a novel VSLAM approach called conditional simultaneous localization and mapping (C-SLAM) is proposed in which camera state transition is derived from image data using optical flow constraints and epipolar geometry in the prediction stage. This improvement not only increases prediction accuracy but also replaces commonly used predefined dynamic models which require additional computation. Compared to classic VSLAM approaches, C-SLAM performs more accurately in prediction and has high computational efficiency, especially under conditions such as abrupt changes in camera velocity or low camera frame rate. Such advantages are supported by the experimental results and analysis presented in this paper. © 2014 Elsevier B.V.
KeywordConditional filtering Extended Kalman filter Low frame rate Visual simultaneous localization and mapping
DOI10.1016/j.neucom.2014.05.034
URLView the original
Language英語
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Cited Times [WOS]:3   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionUniversity of Macau
Affiliation1.Singapore Polytechnic
2.Chinese University of Hong Kong
3.Nanyang Technological University
4.Universidade de Macau
Recommended Citation
GB/T 7714
Liu J.,Liu D.,Cheng J.,et al. Conditional simultaneous localization and mapping: A robust visual SLAM system[J]. Neurocomputing,2014,145:269-284.
APA Liu J.,Liu D.,Cheng J.,&Tang Y..(2014).Conditional simultaneous localization and mapping: A robust visual SLAM system.Neurocomputing,145,269-284.
MLA Liu J.,et al."Conditional simultaneous localization and mapping: A robust visual SLAM system".Neurocomputing 145(2014):269-284.
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