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Visual SLAM
Also check out iSAM, my thesis work on SLAM.Publications
- “Probabilistic Structure Matching for Visual SLAM with a Multi-Camera Rig” by M. Kaess and F. Dellaert. Submitted to Computer Vision and Image Understanding, CVIU, 2008. Details.
- “Visual SLAM with a Multi-Camera Rig” by M. Kaess and F. Dellaert. Georgia Institute of Technology technical report GIT-GVU-06-06, Feb. 2006. Details. Download: PDF.
Using Stereo (DARPA LAGR platform)
3D mesh automatically generated from a run through the woods (click image for video - 13MB!):
The DARPA LAGR mobile robot platform contains two stereo pairs as eyes, in addition to GPS, IMU and a bumper sensor.
Using our custom 8-camera rig
I use the 8-camera rig shown here for visual SLAM. In comparison with a single camera or a stereo setup, this provides better constraints because of the wider viewing angle. And in contrast to omnidirectional vision the resolution can be distributed according to the needs of the application.
From within the model:
Top view:
Side view:
Here are some gif animations that provide a better impression of 3D (warning: they need a lot of memory to play):
