Vision-Based Simultaneous Localization and Map Building: Stereo and Mono SLAM

Kalay A., ULUSOY İ.

IEEE 17th Signal Processing and Communications Applications Conference, Antalya, Türkiye, 9 - 11 Nisan 2009, ss.391-392 identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Basıldığı Şehir: Antalya
  • Basıldığı Ülke: Türkiye
  • Sayfa Sayıları: ss.391-392
  • Orta Doğu Teknik Üniversitesi Adresli: Evet

Özet

The simultaneous operation of localization capability which serves to navigation of an autonomous robot and map building mechanism which provides an environmental model is called SLAM (Simultaneous Localization and Map Building). While various sensors are used for this algorithm, vision-based algorithms are relatively new and have attracted more attention in recent years. In this work, while a Visual SLAM algorithm utilizing Extended Kalman Filter is introduced, the two main branches, mono and stereo SLAM algorithms, are also compared.