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Real-time Simultaneous Localization and Mapping (SLAM) for Vision-based Autonomous Navigation

영상기반 자동항법을 위한 실시간 위치인식 및 지도작성

  • Lim, Hyon (Dept. of Mechanical and Aerospace Engineering, Seoul Nat'l Univ.) ;
  • Lim, Jongwoo (Division of Computer Science and Engineering, Hanyang Univ.) ;
  • Kim, H. Jin (Dept. of Mechanical and Aerospace Engineering, Seoul Nat'l Univ.)
  • 임현 (서울대학교 우주항공공학과) ;
  • 임종우 (한양대학교 컴퓨터공학과) ;
  • 김현진 (서울대학교 우주항공공학과)
  • Received : 2014.07.03
  • Accepted : 2015.03.12
  • Published : 2015.05.01

Abstract

In this paper, we propose monocular visual simultaneous localization and mapping (SLAM) in the large-scale environment. The proposed method continuously computes the current 6-DoF camera pose and 3D landmarks position from video input. The proposed method successfully builds consistent maps from challenging outdoor sequences using a monocular camera as the only sensor. By using a binary descriptor and metric-topological mapping, the system demonstrates real-time performance on a large-scale outdoor dataset without utilizing GPUs or reducing input image size. The effectiveness of the proposed method is demonstrated on various challenging video sequences.

Keywords

Simultaneous Localization and Mapping;Autonomous Navigation

Acknowledgement

Supported by : 한국연구재단

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