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...

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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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spelling 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
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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
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