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ICRA
2006
IEEE

A Visual Compass based on SLAM

14 years 5 months ago
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.
J. M. M. Montiel, Andrew J. Davison
Added 11 Jun 2010
Updated 11 Jun 2010
Type Conference
Year 2006
Where ICRA
Authors J. M. M. Montiel, Andrew J. Davison
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