On Depth Usage for a Lightened Visual SLAM in Small Environments | Zendy

Maxime Boucher | Zendy; Fakhreddine Ababsa | Zendy; Malik Mallem | Zendy

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On Depth Usage for a Lightened Visual SLAM in Small Environments

Author(s) -

Maxime Boucher,

Fakhreddine Ababsa,

Malik Mallem

Publication year - 2014

Publication title -

procedia computer science

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.334

H-Index - 76

ISSN - 1877-0509

DOI - 10.1016/j.procs.2014.11.006

Subject(s) - monocular , simultaneous localization and mapping , focus (optics) , artificial intelligence , computer science , computer vision , strengths and weaknesses , robot , optics , psychology , mobile robot , physics , social psychology

International audienceHistorically popular, the well established monocular-SLAM is however subject to some limitations. The advent of cheap depth sensors allowed to circumvent some of these. Related methods frequently focus heavily on depth data. However these sensors have their own weaknesses. In some cases it is more appropriate to use both intensity and depth informations equally. We first conduct a few experiments in optimal conditions to determine how to use good quality information in our monocular based SLAM. From this we propose a lightweight SLAM designed for small constrained environments

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