A Visual Compass based on SLAM

— Accurate full 3 axis orientation is computed using a low cost calibrated camera. We present a simultaneous sensor location and mapping method that uses a purely rotating camera as sensor and distant points, ideally at infinity, as features. A smooth constant angular velocity pure rotation motion model codifies the camera location. Because of the sequential EKF approach used, and the number of features in the map, about a hundred, the proposed method has been implemented in real time at standard video rates. Experimental results with real images show that the system is able to close loops with 360◦ pan and 360◦ cyclotorsion rotations. Sequences show good performance under challenging conditions: hand-held camera, varying natural outdoor illumination, low cost camera and lens and people moving in the scene.

• Type: Conference
• Year: 2006
• Where: ICRA
• Authors: J. M. M. Montiel, Andrew J. Davison
• Keywords: Cost Calibrated Camera, ICRA 2006, Low Cost, Low Cost Camera, Robotics