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A Constant-Time Efficient Stereo SLAM System
Published on Dec 01, 20095648 Views
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Chapter list
A Constant-Time Efficient Stereo SLAM System00:00
Simultaneous Localisation and Mapping00:07
A constant time stereo SLAM system00:32
Outline01:26
World representations01:29
Global representations01:32
Conclusion Sub-mapping02:14
Continuous Relative Representation03:14
Example with a loop closure04:10
Change of perspective06:44
Advantages and limitations of the CRR07:32
Stereo Processing08:20
Stereo SLAM processing steps08:24
Components of the SLAM system09:44
Improving conditioning using quadtrees11:20
Improving precision through sub-pixel minimisation12:56
Efficient scale invariance13:20
Experimental results13:37
Experimental results examples15:06
Results on difficult sequences15:22
Importance of loop closure on precision (1/2)16:55
Importance of loop closure on precision (2/2)17:40
Conclusion18:42
Advantages and limitations18:45
Future work19:41