Skip to main content
SpringerLink
Log in
Book cover

Man-Machine Interactions 3 pp 123–130Cite as

Visual Simultaneous Localization and Mapping with Direct Orientation Change Measurements

  • Conference paper

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 242))

Abstract

This paper presents an extension of the visual simultaneous localization and mapping (VSLAM) system with the direct measurements of the robot’s orientation change. Four different sources of the additional measurements were considered: visual odometry using both the 5-point [10, 15] and 8-point algorithm [9], wheel odometry and Inertial Measurement Unit (IMU) measurements. The accuracy of the proposed system was compared with the accuracy of the canonical MonoSLAM [7]. The introduction of the additional measurements allowed to reduce the mean error by 17%.

This is a preview of subscription content, log in via an institution.

Chapter
USD   29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD   169.00
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD   219.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Learn about institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Banks, J., Corke, P.I.: Quantitative evaluation of matching methods and validity measures for stereo vision. The International Journal of Robotics Research 20(7), 512–532 (2001)

    Article  Google Scholar 

  2. Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (SURF). Computer Vision and Image Understanding 110(3), 346–359 (2008)

    Article  Google Scholar 

  3. Borenstein, J., Everett, H.R., Feng, L.: Where am I? Sensors and methods for mobile robot positioning, vol. 119, p. 120. University of Michigan (1996)

    Google Scholar 

  4. Ceriani, S., Fontana, G., Giusti, A., Marzorati, D., Matteucci, M., Migliore, D., Rizzi, D., Sorrenti, D.G., Taddei, P.: Rawseeds ground truth collection systems for indoor self-localization and mapping. Autonomous Robots 27(4), 353–371 (2009)

    Article  Google Scholar 

  5. Civera, J., Davison, A.J., Montiel, J.M.M.: Inverse depth parametrization for monocular SLAM. IEEE Transactions on Robotics 24(5), 932–945 (2008)

    Article  Google Scholar 

  6. Davison, A.J., Murray, D.W.: Simultaneous localization and map-building using active vision. IEEE Transactions on Pattern Analysis and Machine Intelligence 24(7), 865–880 (2002)

    Article  Google Scholar 

  7. Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: MonoSLAM: Real-time single camera SLAM. IEEE Transactions on Pattern Analysis and Machine Intelligence 29(6), 1052–1067 (2007)

    Article  Google Scholar 

  8. Fularz, M., Kraft, M., Schmidt, A., Kasiński, A.: FPGA implementation of the robust essential matrix estimation with RANSAC and the 8-point and the 5-point method. In: Keller, R., Kramer, D., Weiss, J.-P. (eds.) Facing the Multicore - Challenge II. LNCS, vol. 7174, pp. 60–71. Springer, Heidelberg (2012)

    Chapter  Google Scholar 

  9. Hartley, R., Zisserman, A.: Multiple view geometry in computer vision, vol. 2. Cambridge University Press (2000)

    Google Scholar 

  10. Li, H., Hartley, R.: Five-point motion estimation made easy. In: Proceedings of the 18th International Conference on Pattern Recognition (ICPR 2006), pp. 630–633. IEEE (2006)

    Google Scholar 

  11. Rosten, E., Drummond, T.: Machine learning for high-speed corner detection. In: Leonardis, A., Bischof, H., Pinz, A. (eds.) ECCV 2006, Part I. LNCS, vol. 3951, pp. 430–443. Springer, Heidelberg (2006), Poster presentation, http://mi.eng.cam.ac.uk/~er258/work/rosten_2006_machine.pdf

    Chapter  Google Scholar 

  12. Schmidt, A., Kasiński, A.: The visual SLAM system for a hexapod robot. In: Bolc, L., Tadeusiewicz, R., Chmielewski, L.J., Wojciechowski, K. (eds.) ICCVG 2010, Part II. LNCS, vol. 6375, pp. 260–267. Springer, Heidelberg (2010)

    Chapter  Google Scholar 

  13. Shi, J., Tomasi, C.: Good features to track. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR 1994), pp. 593–600. IEEE (1994)

    Google Scholar 

  14. Sim, R., Elinas, P., Griffin, M., Little, J.J.: Vision-based slam using the rao-blackwellised particle filter. In: Proceedings of the International Joint Conference on Artificial Intelligence Workshop on Reasoning with Uncertainty in Robotics, pp. 9–16 (2005)

    Google Scholar 

  15. Stewénius, H., Engels, C., Nistér, D.: Recent developments on direct relative orientation. ISPRS Journal of Photogrammetry and Remote Sensing 60(4), 284–294 (2006)

    Article  Google Scholar 

  16. Sturm, J., Visser, A.: An appearance-based visual compass for mobile robots. Robotics and Autonomous Systems 57(5), 536–545 (2009)

    Article  Google Scholar 

  17. Xsens Technologies, B.V.: MTi and MTx User Manual and Technical Documentation. Pantheon 6a, 7521 PR Enschede, The Netherlands (2010)

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Poznan University of Technology, Poznan, Poland

    Adam Schmidt, Marek Kraft, Michał Fularz & Zuzanna Domagała

Authors
  1. Adam Schmidt
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Marek Kraft
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Michał Fularz
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Zuzanna Domagała
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Adam Schmidt .

Editor information

Editors and Affiliations

  1. Institute of Informatics, Silesian University of Technology, Gliwice, Poland

    Dr. Aleksandra Gruca

  2. Polish Academy of Sciences and Silesian University of Technology, Gliwice, Poland

    Tadeusz Czachórski

  3. Institute of Informatics, Silesian University of Technology, Gliwice, Poland

    Stanisław Kozielski

Rights and permissions

Reprints and permissions

Copyright information

© 2014 Springer International Publishing Switzerland

About this paper

Cite this paper

Schmidt, A., Kraft, M., Fularz, M., Domagała, Z. (2014). Visual Simultaneous Localization and Mapping with Direct Orientation Change Measurements. In: Gruca, D., Czachórski, T., Kozielski, S. (eds) Man-Machine Interactions 3. Advances in Intelligent Systems and Computing, vol 242. Springer, Cham. https://doi.org/10.1007/978-3-319-02309-0_13

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-02309-0_13

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-02308-3

  • Online ISBN: 978-3-319-02309-0

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation