First Steps Towards Stereo-Based 6DOF SLAM for the Visually Impaired
Abstract
In this work we have embodied a full 6DOF SLAM solution into a wearable stereo device working in near realtime. In order to serve on-line metric (map) and positional (localization) to the blind or visually impaired we introduce three basic elements: (i) a real-time egomotion estimation integrating 3D and 2D (appearance) information; (ii) a randomized algorithm for global rectification by entropy minimization; and (iii) a time-dependent view integration strategy for reducing the number of variables and achieving near real-time performance in global rectification. We show successful experimental results which illustrate the capabilities of both the egomotion and the global-rectification algorithm in terms of supporting 6DOF, yielding statistical robustness and enabling scalable solutions.
Cite
Text
Sáez et al. "First Steps Towards Stereo-Based 6DOF SLAM for the Visually Impaired." IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops, 2005. doi:10.1109/CVPR.2005.461Markdown
[Sáez et al. "First Steps Towards Stereo-Based 6DOF SLAM for the Visually Impaired." IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops, 2005.](https://mlanthology.org/cvprw/2005/saez2005cvprw-first/) doi:10.1109/CVPR.2005.461BibTeX
@inproceedings{saez2005cvprw-first,
title = {{First Steps Towards Stereo-Based 6DOF SLAM for the Visually Impaired}},
author = {Sáez, Juan Manuel and Escolano, Francisco and Benavent, Antonio Peñalver},
booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops},
year = {2005},
pages = {23},
doi = {10.1109/CVPR.2005.461},
url = {https://mlanthology.org/cvprw/2005/saez2005cvprw-first/}
}