Real-Time Simultaneous Localization and Mapping Using a Wide-Angle Stereo Camera

@article{Schleicher2006RealTimeSL,
  title={Real-Time Simultaneous Localization and Mapping Using a Wide-Angle Stereo Camera},
  author={David Schleicher and Luis Miguel Bergasa and Rafael Barea and Mar{\'i}a Elena L{\'o}pez Guill{\'e}n and Manuel Oca{\~n}a},
  journal={IEEE Workshop on Distributed Intelligent Systems: Collective Intelligence and Its Applications (DIS'06)},
  year={2006},
  pages={55-60}
}
This paper presents a new method for real-time ego-motion calculation applied to the location/orientation of a cheap wide-angle stereo camera in a 3D environment. To achieve that, the goal is to solve the simultaneous localization and mapping (SLAM) problem. Our approach consists in the 3D sequential mapping of natural landmarks by means of a stereo camera, which also provides means to obtain the camera location/orientation. The dynamic behavior is modeled using a top-down Bayesian method. The… CONTINUE READING