Robust Visual Localization with Dynamic Uncertainty Management in Omnidirectional SLAM

Valiente, David and Gil, Arturo and Payá, Luis and Sebastián Zuñiga, Francisco Javier and Reinoso, Óscar (2017). Robust Visual Localization with Dynamic Uncertainty Management in Omnidirectional SLAM. "Applied Sciences", v. 7 (n. 1294); pp. 1-26. ISSN 2076-3417. https://doi.org/10.3390/app7121294.

Description

Title: Robust Visual Localization with Dynamic Uncertainty Management in Omnidirectional SLAM
Author/s:
  • Valiente, David
  • Gil, Arturo
  • Payá, Luis
  • Sebastián Zuñiga, Francisco Javier
  • Reinoso, Óscar
Item Type: Article
Título de Revista/Publicación: Applied Sciences
Date: 12 December 2017
Volume: 7
Subjects:
Freetext Keywords: omnidirectional images; visual SLAM; visual localization
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

This work presents a robust visual localization technique based on an omnidirectional monocular sensor for mobile robotics applications. We intend to overcome the non-linearities and instabilities that the camera projection systems typically introduce, which are especially relevant in catadioptric sensors. In this paper, we come up with several contributions. First, a novel strategy for the uncertainty management is developed, which accounts for a realistic visual localization technique, since it dynamically encodes the instantaneous variations and drifts on the uncertainty, by defining an information metric of the system. Secondly, an epipolar constraint adaption to the omnidirectional geometry reference is devised. Thirdly, Bayesian considerations are also implemented, in order to produce a final global metric for a consistent feature matching between images. The resulting outcomes are supported by real data experiments performed with publicly-available datasets, in order to assess the suitability of the approach and to confirm the reliability of the main contributions. Besides localization results, real visual SLAM (Simultaneous Localization and Mapping) comparison experiments with acknowledged methods are also presented, by using a public dataset and benchmark framework.

Funding Projects

TypeCodeAcronymLeaderTitle
Government of SpainDPI2016-78361-RUnspecifiedUnspecifiedCREACION DE MAPAS MEDIANTE METODOS DE APARIENCIA VISUAL PARA LA NAVEGACION DE ROBOTS
Universidad Politécnica de MadridAPOSTD/2017/028UnspecifiedUnspecifiedUnspecified

More information

Item ID: 52666
DC Identifier: http://oa.upm.es/52666/
OAI Identifier: oai:oa.upm.es:52666
DOI: 10.3390/app7121294
Official URL: https://www.mdpi.com/2076-3417/7/12/1294
Deposited by: Memoria Investigacion
Deposited on: 18 Oct 2018 16:19
Last Modified: 29 Apr 2019 14:56
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