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CurveSLAM: An approach for vision-based navigation without point features

Rao, Dushyant and Chung, Soon-Jo and Hutchinson, Seth (2012) CurveSLAM: An approach for vision-based navigation without point features. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE , New York, NY, pp. 4198-4204. ISBN 978-1-4673-1736-8. http://resolver.caltech.edu/CaltechAUTHORS:20161109-082124457

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Abstract

Existing approaches to visual Simultaneous Localization and Mapping (SLAM) typically utilize points as visual feature primitives to represent landmarks in the environment. Since these techniques mostly use image points from a standard feature point detector, they do not explicitly map objects or regions of interest. Our work is motivated by the need for different SLAM techniques in path and riverine settings, where feature points can be scarce or may not adequately represent the environment. Accordingly, the proposed approach uses cubic Bézier curves as stereo vision primitives and offers a novel SLAM formulation to update the curve parameters and vehicle pose. This method eliminates the need for point-based stereo matching, with an optimization procedure to directly extract the curve information in the world frame from noisy edge measurements. Further, the proposed algorithm enables navigation with fewer feature states than most point-based techniques, and is able to produce a map which only provides detail in key areas. Results in simulation and with vision data validate that the proposed method can be effective in estimating the 6DOF pose of the stereo camera, and can produce structured, uncluttered maps.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1109/IROS.2012.6385764DOIArticle
http://ieeexplore.ieee.org/document/6385764/PublisherArticle
ORCID:
AuthorORCID
Chung, Soon-Jo0000-0002-6657-3907
Hutchinson, Seth0000-0002-3949-6061
Additional Information:© 2012 IEEE. Date Added to IEEE Xplore: 24 December 2012. This work was supported by the Office of Naval Research (ONR) under Award No. N00014-11-1-0088.
Group:GALCIT
Funders:
Funding AgencyGrant Number
Office of Naval Research (ONR)N00014-11-1-0088
Record Number:CaltechAUTHORS:20161109-082124457
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20161109-082124457
Official Citation:D. Rao, S. J. Chung and S. Hutchinson, "CurveSLAM: An approach for vision-based navigation without point features," 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, 2012, pp. 4198-4204. doi: 10.1109/IROS.2012.6385764
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:71864
Collection:CaltechAUTHORS
Deposited By: Ruth Sustaita
Deposited On:09 Nov 2016 18:16
Last Modified:18 May 2017 21:32

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