|Center for Robotics and Intelligent Machines, Georgia Tech||GT CoC IC GVU RIM@GT BORG|
please see my MIT page for up-to-date information
Visual SLAMAlso check out iSAM, my thesis work on SLAM.
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:
Here are some gif animations that provide a better impression of 3D (warning: they need a lot of memory to play):
Last updated: Jan 2, 2010 by kaess @ ieee.org
© 2010 Michael Kaess. All Rights Reserved.