The present thesis is focuses on the problem of Simultaneous Localisation and Mapping (SLAM) using only visual data (VSLAM). This means to concurrently estimate the position of a moving camera and to create a consistent map of the environment. Since implementing a whole VSLAM system is out of the scope of a degree thesis, the main aim is to improve an existing visual SLAM system by complementing the commonly used point features with straight line primitives. This enables more accurate localization in environments with few feature points, like corridors. As a foundation for the project, ScaViSLAM by Strasdat et al. is used, which is a state-of-the-art real-time visual SLAM framework. Since it currently only supports Stereo and RGB-D systems, implementing a Monocular approach will be researched as well as an integration of it as a ROS package in order to deploy it on a mobile robot. For the experimental results, the Care-O-bot service robot developed by Fraunhofer IPA will be used.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Visual SLAM using straight lines



    Erscheinungsdatum :

    24.09.2013


    Medientyp :

    Hochschulschrift


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Schlagwörter :

    Klassifikation :

    DDC:    629



    Visual SLAM Combining Lines and Structural Regularities: Towards Robust Localization

    Zhao, Weiqiang / Sun, Hang / Zhang, Xinyu et al. | IEEE | 2024



    Visual SLAM: Why filter?

    Strasdat, H. / Montiel, J. M. / Davison, A. J. | British Library Online Contents | 2012


    Gamma-SLAM: Visual SLAM in unstructured environments using variance grid maps

    Marks, T. K. / Howard, A. / Bajracharya, M. et al. | British Library Online Contents | 2009


    RWT-SLAM: Robust Visual SLAM for Weakly Textured Environments

    Peng, Qihao / Zhao, Xijun / Dang, Ruina et al. | IEEE | 2024