1-point RANSAC for EKF-based Structure from Motion

Abstract— Recently, classical pairwise Structure From Motion (SfM) techniques have been combined with non-linear global optimization (Bundle Adjustment, BA) over a sliding window to recursively provide camera pose and feature location estimation from long image sequences. Normally called Visual Odometry, these algorithms are nowadays able to estimate with impressive accuracy trajectories of hundreds of meters; either from an image sequence (usually stereo) as the only input, or combining visual and propioceptive information from inertial sensors or wheel odometry. This paper has a double objective. First, we aim to illustrate for the first time how similar accuracy and trajectory length can be achieved by filtering-based visual SLAM methods. Specifically, a camera-centered Extended Kalman Filter is used here to process a monocular sequence as the only input, with 6DOF motion estimated. Features are kept live in the filter while visible as the camera explores forward, and are dele...

• Type: Conference
• Year: 2009
• Where: IROS
• Authors: Javier Civera, Oscar G. Grasa, Andrew J. Davison, J. M. M. Montiel
• Keywords: Image Sequences, Impressive Accuracy Trajectories, IROS 2009, Outlier Rejection, Robotics