Simultaneous Localization and Mapping Solutions Using Monocular and Stereo Visual Sensors with Baseline Scaling System  

作　　者：Akram Afifi Brendan Woo 

机构地区：[1]Faculty of Applied Sciences and Technology, Humber Institute of Technology and Advanced Learning, Toronto, Canada

出　　处：《Positioning》2019年第4期51-72,共22页导航（英文）

摘　　要：In this paper, SLAM systems are introduced using monocular and stereo visual sensors. The SLAM solutions are implemented in both indoor and outdoor. The SLAM samples have been taken in different modes, such as a straight line that enables us to measure the drift, in addition to the loop sample that is used to test the loop closure and its corresponding trajectory deformation. In order to verify the trajectory scale, a baseline method has been used. In addition, a ground truth has been captured for both indoor and outdoor samples to measure the biases and drifts caused by the SLAM solution. Both monocular and stereo SLAM data have been captured with the same visual sensors which in the stereo situation had a baseline of 20.00 cm. It has been shown that, the stereo SLAM localization results are 75% higher precision than the monocular SLAM solution. In addition, the indoor results of the monocular SLAM are more precise than the outdoor. However, the outdoor results of the stereo SLAM are more precise than the indoor results by 30%, which is a result of the small stereo baseline cameras. In the vertical SLAM localization component, the stereo SLAM generally shows 60% higher precision than the monocular SLAM results.In this paper, SLAM systems are introduced using monocular and stereo visual sensors. The SLAM solutions are implemented in both indoor and outdoor. The SLAM samples have been taken in different modes, such as a straight line that enables us to measure the drift, in addition to the loop sample that is used to test the loop closure and its corresponding trajectory deformation. In order to verify the trajectory scale, a baseline method has been used. In addition, a ground truth has been captured for both indoor and outdoor samples to measure the biases and drifts caused by the SLAM solution. Both monocular and stereo SLAM data have been captured with the same visual sensors which in the stereo situation had a baseline of 20.00 cm. It has been shown that, the stereo SLAM localization results are 75% higher precision than the monocular SLAM solution. In addition, the indoor results of the monocular SLAM are more precise than the outdoor. However, the outdoor results of the stereo SLAM are more precise than the indoor results by 30%, which is a result of the small stereo baseline cameras. In the vertical SLAM localization component, the stereo SLAM generally shows 60% higher precision than the monocular SLAM results.

关 键 词：SLAM Vision KALMAN Filter MONOCULAR STEREO 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]