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Visual-inertial curve simultaneous localization and mapping: Creating a sparse structured world without feature points

Meier, Kevin and Chung, Soon-Jo and Hutchinson, Seth (2018) Visual-inertial curve simultaneous localization and mapping: Creating a sparse structured world without feature points. Journal of Field Robotics, 35 (4). pp. 516-544. ISSN 1556-4959. https://resolver.caltech.edu/CaltechAUTHORS:20170518-135803615

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Abstract

We present a simultaneous localization and mapping (SLAM) algorithm that uses Bézier curves as static landmark primitives rather than feature points. Our approach allows us to estimate the full six degrees of freedom pose of a robot while providing a structured map that can be used to assist a robot in motion planning and control. We demonstrate how to reconstruct the three-dimensional (3D) location of curve landmarks from a stereo pair and how to compare the 3D shape of curve landmarks between chronologically sequential stereo frames to solve the data association problem. We also present a method to combine curve landmarks for mapping purposes, resulting in a map with a continuous set of curves that contain fewer landmark states than conventional point-based SLAM algorithms. We demonstrate our algorithm's effectiveness with numerous experiments, including comparisons to existing state-of-the-art SLAM algorithms.


Item Type:Article
Related URLs:
URLURL TypeDescription
https://doi.org/10.1002/rob.21759DOIArticle
http://onlinelibrary.wiley.com/doi/10.1002/rob.21759/abstractPublisherArticle
ORCID:
AuthorORCID
Meier, Kevin0000-0003-4000-1422
Chung, Soon-Jo0000-0002-6657-3907
Hutchinson, Seth0000-0002-3949-6061
Alternate Title:Visual-Inertial Curve SLAM: Creating a Sparse Structured World without Feature Points
Additional Information:© 2017 Wiley Periodicals, Inc. Issue Online 18 May 2018; Version of Record online: 24 October 2017; Manuscript accepted: 12 September 2017; Manuscript revised: 26 July 2017; Manuscript received: 05 December 2016. The work in this article was supported by the Office of Naval Research (Grant No. N00014-14-1-0265), and the SMART scholarship for service program [Office of Secretary Defense-Test and Evaluation, Defense-Wide/PE0601120D8Z National Defense Education Program (NDEP)/BA-1, Basic Research].
Group:GALCIT
Funders:
Funding AgencyGrant Number
Office of Naval Research (ONR)N00014-14-1-0265
National Defense Education ProgramPE0601120D8Z
Issue or Number:4
Record Number:CaltechAUTHORS:20170518-135803615
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20170518-135803615
Official Citation:Meier K, Chung Soon‐Jo, Hutchinson S. Visual‐inertial curve simultaneous localization and mapping: Creating a sparse structured world without feature points. J Field Robotics. 2018;35:516–544. https://doi.org/10.1002/rob.21759
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:77589
Collection:CaltechAUTHORS
Deposited By: George Porter
Deposited On:18 May 2017 21:06
Last Modified:03 Oct 2019 17:59

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