Passive Initialization Method Based on Motion Characteristics for Monocular SLAM
Visual SLAM techniques have proven to be effective methods for estimating robust position and attitude in the field of robotics. However, current monocular SLAM algorithms cannot guarantee timeliness of system startup due to the problematic initialization time and the low success rates. This paper i...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2019-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2019/8176489 |
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| _version_ | 1832561031965048832 |
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| author | Yu Yang Jing Xiong Xiaoyu She Chang Liu ChengWei Yang Jie Li |
| author_facet | Yu Yang Jing Xiong Xiaoyu She Chang Liu ChengWei Yang Jie Li |
| author_sort | Yu Yang |
| collection | DOAJ |
| description | Visual SLAM techniques have proven to be effective methods for estimating robust position and attitude in the field of robotics. However, current monocular SLAM algorithms cannot guarantee timeliness of system startup due to the problematic initialization time and the low success rates. This paper introduces a rectilinear platform motion hypothesis and thereby converts the estimation problem into a verification problem to achieve fast monocular SLAM initialization. The proposed method is simulation tested on a fixed-wing UAV. Tests show that the proposed method can produce faster initialization of visual SLAM and that the advantages are more profound on systems with sparse image features. |
| format | Article |
| id | doaj-art-983c4079d63c4d43811e37b438fa64c3 |
| institution | Kabale University |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2019-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-983c4079d63c4d43811e37b438fa64c32025-02-03T01:26:13ZengWileyComplexity1076-27871099-05262019-01-01201910.1155/2019/81764898176489Passive Initialization Method Based on Motion Characteristics for Monocular SLAMYu Yang0Jing Xiong1Xiaoyu She2Chang Liu3ChengWei Yang4Jie Li5School of Mechatronical Engineering, Beijing Institute of Technology, 5th South Zhongguancun Street, Beijing, ChinaSchool of Mechatronical Engineering, Beijing Institute of Technology, 5th South Zhongguancun Street, Beijing, ChinaSchool of Mechatronical Engineering, Beijing Institute of Technology, 5th South Zhongguancun Street, Beijing, ChinaSchool of Mechatronical Engineering, Beijing Institute of Technology, 5th South Zhongguancun Street, Beijing, ChinaSchool of Mechatronical Engineering, Beijing Institute of Technology, 5th South Zhongguancun Street, Beijing, ChinaSchool of Mechatronical Engineering, Beijing Institute of Technology, 5th South Zhongguancun Street, Beijing, ChinaVisual SLAM techniques have proven to be effective methods for estimating robust position and attitude in the field of robotics. However, current monocular SLAM algorithms cannot guarantee timeliness of system startup due to the problematic initialization time and the low success rates. This paper introduces a rectilinear platform motion hypothesis and thereby converts the estimation problem into a verification problem to achieve fast monocular SLAM initialization. The proposed method is simulation tested on a fixed-wing UAV. Tests show that the proposed method can produce faster initialization of visual SLAM and that the advantages are more profound on systems with sparse image features.http://dx.doi.org/10.1155/2019/8176489 |
| spellingShingle | Yu Yang Jing Xiong Xiaoyu She Chang Liu ChengWei Yang Jie Li Passive Initialization Method Based on Motion Characteristics for Monocular SLAM Complexity |
| title | Passive Initialization Method Based on Motion Characteristics for Monocular SLAM |
| title_full | Passive Initialization Method Based on Motion Characteristics for Monocular SLAM |
| title_fullStr | Passive Initialization Method Based on Motion Characteristics for Monocular SLAM |
| title_full_unstemmed | Passive Initialization Method Based on Motion Characteristics for Monocular SLAM |
| title_short | Passive Initialization Method Based on Motion Characteristics for Monocular SLAM |
| title_sort | passive initialization method based on motion characteristics for monocular slam |
| url | http://dx.doi.org/10.1155/2019/8176489 |
| work_keys_str_mv | AT yuyang passiveinitializationmethodbasedonmotioncharacteristicsformonocularslam AT jingxiong passiveinitializationmethodbasedonmotioncharacteristicsformonocularslam AT xiaoyushe passiveinitializationmethodbasedonmotioncharacteristicsformonocularslam AT changliu passiveinitializationmethodbasedonmotioncharacteristicsformonocularslam AT chengweiyang passiveinitializationmethodbasedonmotioncharacteristicsformonocularslam AT jieli passiveinitializationmethodbasedonmotioncharacteristicsformonocularslam |