Simultaneous localization of a monocular camera and mapping of the environment in real time
In this work a Visual SLAM system (Simultaneous Localization and Mapping) that performs in real time, building feature-based maps and estimating the camera trajectory is presented. The camera is carried by a person that moves it smoothly with six degrees of freedom in indoor environments. The featur...
- Autores:
-
Diaz, Andrés
Paz, Lina
Caicedo, Eduardo
Piniés, Pedro
- Tipo de recurso:
- Article of journal
- Fecha de publicación:
- 2014
- Institución:
- Universidad Nacional de Colombia
- Repositorio:
- Universidad Nacional de Colombia
- Idioma:
- spa
- OAI Identifier:
- oai:repositorio.unal.edu.co:unal/44471
- Acceso en línea:
- https://repositorio.unal.edu.co/handle/unal/44471
http://bdigital.unal.edu.co/34570/
- Palabra clave:
- localization
mapping
EKF
monocular camera
inverse depth
real time
6DOF
active search
- Rights
- openAccess
- License
- Atribución-NoComercial 4.0 Internacional
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Atribución-NoComercial 4.0 InternacionalDerechos reservados - Universidad Nacional de Colombiahttp://creativecommons.org/licenses/by-nc/4.0/info:eu-repo/semantics/openAccesshttp://purl.org/coar/access_right/c_abf2Diaz, Andrés04786862-960a-43f4-87d5-8741a6393d83300Paz, Lina454fbc20-8431-4ae2-a788-745ecacd4be4300Caicedo, Eduardo5dcc9af9-4275-4251-baed-bbaa1074ff0f300Piniés, Pedro98e029a3-7e9a-43b3-b99a-22eeb8d77e0a3002019-06-28T13:35:57Z2019-06-28T13:35:57Z2014-01-13https://repositorio.unal.edu.co/handle/unal/44471http://bdigital.unal.edu.co/34570/In this work a Visual SLAM system (Simultaneous Localization and Mapping) that performs in real time, building feature-based maps and estimating the camera trajectory is presented. The camera is carried by a person that moves it smoothly with six degrees of freedom in indoor environments. The features correspond to high quality corners parametrized with inverse depth representation. They are detected inside regions of interest and an occupancy criterion is applied in order to avoid feature agglomeration. The association process is developed using active search. The final representation is made in a three-dimensional environment.application/pdfspaUniversidad Nacional de Colombia Sede Medellínhttp://revistas.unal.edu.co/index.php/dyna/article/view/34745Universidad Nacional de Colombia Revistas electrónicas UN DynaDynaDyna; Vol. 81, núm. 183 (2014); 7-15 DYNA; Vol. 81, núm. 183 (2014); 7-15 2346-2183 0012-7353Diaz, Andrés and Paz, Lina and Caicedo, Eduardo and Piniés, Pedro (2014) Simultaneous localization of a monocular camera and mapping of the environment in real time. Dyna; Vol. 81, núm. 183 (2014); 7-15 DYNA; Vol. 81, núm. 183 (2014); 7-15 2346-2183 0012-7353 .Simultaneous localization of a monocular camera and mapping of the environment in real timeArtículo de revistainfo:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501http://purl.org/coar/resource_type/c_2df8fbb1http://purl.org/coar/version/c_970fb48d4fbd8a85Texthttp://purl.org/redcol/resource_type/ARTlocalizationmappingEKFmonocular camerainverse depthreal time6DOFactive searchORIGINAL34745-135276-1-SP.docxapplication/vnd.openxmlformats-officedocument.wordprocessingml.document1520681https://repositorio.unal.edu.co/bitstream/unal/44471/1/34745-135276-1-SP.docxaece43ce5758a51767fbe5c7393cf707MD5134745-194745-1-PB.pdfapplication/pdf1562377https://repositorio.unal.edu.co/bitstream/unal/44471/2/34745-194745-1-PB.pdfeaf782f5c82ca7c40082a67bd48b2ca1MD52THUMBNAIL34745-194745-1-PB.pdf.jpg34745-194745-1-PB.pdf.jpgGenerated Thumbnailimage/jpeg9482https://repositorio.unal.edu.co/bitstream/unal/44471/3/34745-194745-1-PB.pdf.jpg671457d2d420d06d39bdd3c14a14faeeMD53unal/44471oai:repositorio.unal.edu.co:unal/444712024-02-15 23:18:42.232Repositorio Institucional Universidad Nacional de Colombiarepositorio_nal@unal.edu.co |
dc.title.spa.fl_str_mv |
Simultaneous localization of a monocular camera and mapping of the environment in real time |
title |
Simultaneous localization of a monocular camera and mapping of the environment in real time |
spellingShingle |
Simultaneous localization of a monocular camera and mapping of the environment in real time localization mapping EKF monocular camera inverse depth real time 6DOF active search |
title_short |
Simultaneous localization of a monocular camera and mapping of the environment in real time |
title_full |
Simultaneous localization of a monocular camera and mapping of the environment in real time |
title_fullStr |
Simultaneous localization of a monocular camera and mapping of the environment in real time |
title_full_unstemmed |
Simultaneous localization of a monocular camera and mapping of the environment in real time |
title_sort |
Simultaneous localization of a monocular camera and mapping of the environment in real time |
dc.creator.fl_str_mv |
Diaz, Andrés Paz, Lina Caicedo, Eduardo Piniés, Pedro |
dc.contributor.author.spa.fl_str_mv |
Diaz, Andrés Paz, Lina Caicedo, Eduardo Piniés, Pedro |
dc.subject.proposal.spa.fl_str_mv |
localization mapping EKF monocular camera inverse depth real time 6DOF active search |
topic |
localization mapping EKF monocular camera inverse depth real time 6DOF active search |
description |
In this work a Visual SLAM system (Simultaneous Localization and Mapping) that performs in real time, building feature-based maps and estimating the camera trajectory is presented. The camera is carried by a person that moves it smoothly with six degrees of freedom in indoor environments. The features correspond to high quality corners parametrized with inverse depth representation. They are detected inside regions of interest and an occupancy criterion is applied in order to avoid feature agglomeration. The association process is developed using active search. The final representation is made in a three-dimensional environment. |
publishDate |
2014 |
dc.date.issued.spa.fl_str_mv |
2014-01-13 |
dc.date.accessioned.spa.fl_str_mv |
2019-06-28T13:35:57Z |
dc.date.available.spa.fl_str_mv |
2019-06-28T13:35:57Z |
dc.type.spa.fl_str_mv |
Artículo de revista |
dc.type.coar.fl_str_mv |
http://purl.org/coar/resource_type/c_2df8fbb1 |
dc.type.driver.spa.fl_str_mv |
info:eu-repo/semantics/article |
dc.type.version.spa.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.coar.spa.fl_str_mv |
http://purl.org/coar/resource_type/c_6501 |
dc.type.coarversion.spa.fl_str_mv |
http://purl.org/coar/version/c_970fb48d4fbd8a85 |
dc.type.content.spa.fl_str_mv |
Text |
dc.type.redcol.spa.fl_str_mv |
http://purl.org/redcol/resource_type/ART |
format |
http://purl.org/coar/resource_type/c_6501 |
status_str |
publishedVersion |
dc.identifier.uri.none.fl_str_mv |
https://repositorio.unal.edu.co/handle/unal/44471 |
dc.identifier.eprints.spa.fl_str_mv |
http://bdigital.unal.edu.co/34570/ |
url |
https://repositorio.unal.edu.co/handle/unal/44471 http://bdigital.unal.edu.co/34570/ |
dc.language.iso.spa.fl_str_mv |
spa |
language |
spa |
dc.relation.spa.fl_str_mv |
http://revistas.unal.edu.co/index.php/dyna/article/view/34745 |
dc.relation.ispartof.spa.fl_str_mv |
Universidad Nacional de Colombia Revistas electrónicas UN Dyna Dyna |
dc.relation.ispartofseries.none.fl_str_mv |
Dyna; Vol. 81, núm. 183 (2014); 7-15 DYNA; Vol. 81, núm. 183 (2014); 7-15 2346-2183 0012-7353 |
dc.relation.references.spa.fl_str_mv |
Diaz, Andrés and Paz, Lina and Caicedo, Eduardo and Piniés, Pedro (2014) Simultaneous localization of a monocular camera and mapping of the environment in real time. Dyna; Vol. 81, núm. 183 (2014); 7-15 DYNA; Vol. 81, núm. 183 (2014); 7-15 2346-2183 0012-7353 . |
dc.rights.spa.fl_str_mv |
Derechos reservados - Universidad Nacional de Colombia |
dc.rights.coar.fl_str_mv |
http://purl.org/coar/access_right/c_abf2 |
dc.rights.license.spa.fl_str_mv |
Atribución-NoComercial 4.0 Internacional |
dc.rights.uri.spa.fl_str_mv |
http://creativecommons.org/licenses/by-nc/4.0/ |
dc.rights.accessrights.spa.fl_str_mv |
info:eu-repo/semantics/openAccess |
rights_invalid_str_mv |
Atribución-NoComercial 4.0 Internacional Derechos reservados - Universidad Nacional de Colombia http://creativecommons.org/licenses/by-nc/4.0/ http://purl.org/coar/access_right/c_abf2 |
eu_rights_str_mv |
openAccess |
dc.format.mimetype.spa.fl_str_mv |
application/pdf |
dc.publisher.spa.fl_str_mv |
Universidad Nacional de Colombia Sede Medellín |
institution |
Universidad Nacional de Colombia |
bitstream.url.fl_str_mv |
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