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(Reference retrieved automatically from Web of Science through information on FAPESP grant and its corresponding number as mentioned in the publication by the authors.)

An Efficient Direct Approach to Visual SLAM

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Silveira, Geraldo [1, 2] ; Malis, Ezio [1] ; Rives, Patrick [1]
Total Authors: 3
[1] INRIA, Project Adv Robot & Autonomous Syst ARobAS, F-06902 Sophia Antipolis - France
[2] Ctr Pesquisa Renato Archer CenPRA Res Ctr, Div Robot & Computat Vis DRVC, BR-13069901 Campinas, SP - Brazil
Total Affiliations: 2
Document type: Journal article
Source: IEEE Transactions on Robotics; v. 24, n. 5, SI, p. 969-979, OCT 2008.
Web of Science Citations: 57

The majority of visual simultaneous localization and mapping (SLAM) approaches consider feature correspondences as an input to the joint process of estimating the camera pose and the scene structure. In this paper, we propose a new approach for simultaneously obtaining the correspondences, the camera pose, the scene structure, and the illumination changes, all directly using image intensities as observations. Exploitation of all possible image information leads to more accurate estimates and avoids the inherent difficulties of reliably associating features. We also show here that, in this case, structural constraints can be enforced within the procedure as well (instead of a posteriori), namely the cheirality, the rigidity, and those related to the lighting variations. We formulate the visual SLAM problem as a nonlinear image alignment task. The proposed parameters to perform this task are optimally computed by an efficient second-order approximation method for fast processing and avoidance of irrelevant minima. Furthermore, a new solution to the visual SLAM initialization problem is described whereby no assumptions are made about either the scene or the camera motion. Experimental results are provided for a variety of scenes, including urban and outdoor ones, under general camera motion and different types of perturbations. (AU)