RT-SLAM: A Generic and Real-Time Visual SLAM Implementation

Abstract. This article presents a new open-source C++ implementation to solve the SLAM problem, which is focused on genericity, versatility and high execution speed. It is based on an original object oriented architecture, that allows the combination of numerous sensors and landmark types, and the integration of various approaches proposed in the literature. The system capacities are illustrated by the presentation of an inertial/vision SLAM approach, for which several improvements over existing methods have been introduced, and that copes with very high dynamic motions. Results with a hand-held camera are presented. 1 Motivation Progresses in image processing, the growth of available computing power and the proposition of approaches to deal with bearings-only observations have made visual SLAM very popular, particularly since the demonstration of a real-time implementation by Davison in 2003 [4]. The Extended Kalman Filter (EKF) is widely used to solve the SLAM estimation problem, but...

• Type: Journal
• Year: 2012
• Where: CORR
• Authors: Cyril Roussillon, Aurélien Gonzalez, Joan Solà, Jean-Marie Codol, Nicolas Mansard, Simon Lacroix, Michel Devy
• Keywords: CORR 2012, Education, Extended Kalman Filter, Global Optimization Methods, Object Oriented Architecture