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Monocular SLAM as a Graph of Coalesced Observations

Ethan Eade, Tom Drummond
ICCV 2007 pp. 1-8
doi:10.1109/ICCV.2007.4409098 /iccv/2007/eade2007iccv-monocular/

Abstract

We present a monocular SLAM system that avoids inconsistency by coalescing observations into independent local coordinate frames, building a graph of the local frames, and optimizing the resulting graph. We choose coordinates that minimize the nonlinearity of the updates in the nodes, and suggest a heuristic measure of such nonlinearity, using it to guide our traversal of the graph. The system operates in real-time on sequences with several hundreds of landmarks while performing global graph optimization, yielding accurate and nearly consistent estimation relative to offline bundle adjustment, and considerably better consistency than EKF SLAM and FastSLAM.

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Cite

Text

Eade and Drummond. "Monocular SLAM as a Graph of Coalesced Observations." IEEE/CVF International Conference on Computer Vision, 2007. doi:10.1109/ICCV.2007.4409098

Markdown

[Eade and Drummond. "Monocular SLAM as a Graph of Coalesced Observations." IEEE/CVF International Conference on Computer Vision, 2007.](https://mlanthology.org/iccv/2007/eade2007iccv-monocular/) doi:10.1109/ICCV.2007.4409098

BibTeX

@inproceedings{eade2007iccv-monocular,
  title     = {{Monocular SLAM as a Graph of Coalesced Observations}},
  author    = {Eade, Ethan and Drummond, Tom},
  booktitle = {IEEE/CVF International Conference on Computer Vision},
  year      = {2007},
  pages     = {1-8},
  doi       = {10.1109/ICCV.2007.4409098},
  url       = {https://mlanthology.org/iccv/2007/eade2007iccv-monocular/}
}