2009. 12. 2. 21:33
Computer Vision
Joan Solà
6DOF SLAM toolbox for Matlab http://homepages.laas.fr/jsola/JoanSola/eng/toolbox.html
slamtb.m
Plucker line (HighLevel/userDataLin.m) http://en.wikipedia.org/wiki/Pl%C3%BCcker_coordinates http://www.cgafaq.info/wiki/Plucker_line_coordinates
direct observation model
http://vismod.media.mit.edu/tech-reports/TR-451/node8.html
inverse observation model
http://vismod.media.mit.edu/tech-reports/TR-451/node9.html
( source: MIT Media Laboratory's Vision and Modeling group )
6DOF SLAM toolbox for Matlab http://homepages.laas.fr/jsola/JoanSola/eng/toolbox.html
References
[1] J. Civera, A.J. Davison, and J.M.M Montiel. Inverse depth parametrization for monocular SLAM. IEEE Trans. on Robotics, 24(5), 2008.
[2] J. Civera, Andrew Davison, and J. Montiel. Inverse Depth to Depth Conversion for Monocular SLAM. In IEEE Int. Conf. on Robotics and Automation, pages 2778 –2783, April 2007.
[3] A. J. Davison. Real-time simultaneous localisation and mapping with a single camera. In Int. Conf. on Computer Vision, volume 2, pages 1403–1410, Nice, October 2003.
[4] Andrew J. Davison. Active search for real-time vision. Int. Conf. on Computer Vision, 1:66–73, 2005.
[5] Andrew J. Davison, Ian D. Reid, Nicholas D. Molton, and Olivier Stasse. MonoSLAM: Real-time single camera SLAM. Trans. on Pattern Analysis and Machine Intelligence, 29(6):1052–1067, June 2007.
[6] Ethan Eade and Tom Drummond. Scalable monocular SLAM. IEEE Int. Conf. on Computer Vision and Pattern Recognition, 1:469–476, 2006.
[7] Thomas Lemaire and Simon Lacroix. Monocular-vision based SLAM using line segments. In IEEE Int. Conf. on Robotics and Automation, pages 2791–2796, Rome, Italy, 2007.
[8] Nicholas Molton, Andrew J. Davison, and Ian Reid. Locally planar patch features for real-time structure from motion. In British Machine Vision Conference, 2004.
[9] J. Montiel, J. Civera, and A. J. Davison. Unified inverse depth parametrization for monocular SLAM. In Robotics: Science and Systems, Philadelphia, USA, August 2006.
[10] L. M. Paz, P. Pini´es, J. Tard´os, and J. Neira. Large scale 6DOF SLAM with stereo-in-hand. IEEE Trans. on Robotics, 24(5), 2008.
[11] J. Sol`a, Andr´e Monin, Michel Devy, and T. Vidal-Calleja. Fusing monocular information in multi-camera SLAM. IEEE Trans. on Robotics, 24(5):958–968, 2008.
[12] Joan Sol`a. Towards Visual Localization, Mapping and Moving Objects Tracking by a Mobile Robot: a Geometric and Probabilistic Approach. PhD thesis, Institut National Polytechnique de Toulouse, 2007.
[13] Joan Sol`a, Andr´e Monin, and Michel Devy. BiCamSLAM: Two times mono is more than stereo. In IEEE Int. Conf. on Robotics and Automation, pages 4795–4800, Rome, Italy, April 2007.
[14] Joan Sol`a, Andr´e Monin, Michel Devy, and Thomas Lemaire. Undelayed initialization in bearing only SLAM. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pages 2499–2504, Edmonton, Canada, 2005.
[15] Joan Sol`a, Teresa Vidal-Calleja, and Michel Devy. Undelayed initialization of line segments in monocular SLAM. In IEEE Int. Conf. on Intelligent Robots and Systems, Saint Louis, USA, 2009. To appear.
[1] J. Civera, A.J. Davison, and J.M.M Montiel. Inverse depth parametrization for monocular SLAM. IEEE Trans. on Robotics, 24(5), 2008.
[2] J. Civera, Andrew Davison, and J. Montiel. Inverse Depth to Depth Conversion for Monocular SLAM. In IEEE Int. Conf. on Robotics and Automation, pages 2778 –2783, April 2007.
[3] A. J. Davison. Real-time simultaneous localisation and mapping with a single camera. In Int. Conf. on Computer Vision, volume 2, pages 1403–1410, Nice, October 2003.
[4] Andrew J. Davison. Active search for real-time vision. Int. Conf. on Computer Vision, 1:66–73, 2005.
[5] Andrew J. Davison, Ian D. Reid, Nicholas D. Molton, and Olivier Stasse. MonoSLAM: Real-time single camera SLAM. Trans. on Pattern Analysis and Machine Intelligence, 29(6):1052–1067, June 2007.
[6] Ethan Eade and Tom Drummond. Scalable monocular SLAM. IEEE Int. Conf. on Computer Vision and Pattern Recognition, 1:469–476, 2006.
[7] Thomas Lemaire and Simon Lacroix. Monocular-vision based SLAM using line segments. In IEEE Int. Conf. on Robotics and Automation, pages 2791–2796, Rome, Italy, 2007.
[8] Nicholas Molton, Andrew J. Davison, and Ian Reid. Locally planar patch features for real-time structure from motion. In British Machine Vision Conference, 2004.
[9] J. Montiel, J. Civera, and A. J. Davison. Unified inverse depth parametrization for monocular SLAM. In Robotics: Science and Systems, Philadelphia, USA, August 2006.
[10] L. M. Paz, P. Pini´es, J. Tard´os, and J. Neira. Large scale 6DOF SLAM with stereo-in-hand. IEEE Trans. on Robotics, 24(5), 2008.
[11] J. Sol`a, Andr´e Monin, Michel Devy, and T. Vidal-Calleja. Fusing monocular information in multi-camera SLAM. IEEE Trans. on Robotics, 24(5):958–968, 2008.
[12] Joan Sol`a. Towards Visual Localization, Mapping and Moving Objects Tracking by a Mobile Robot: a Geometric and Probabilistic Approach. PhD thesis, Institut National Polytechnique de Toulouse, 2007.
[13] Joan Sol`a, Andr´e Monin, and Michel Devy. BiCamSLAM: Two times mono is more than stereo. In IEEE Int. Conf. on Robotics and Automation, pages 4795–4800, Rome, Italy, April 2007.
[14] Joan Sol`a, Andr´e Monin, Michel Devy, and Thomas Lemaire. Undelayed initialization in bearing only SLAM. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pages 2499–2504, Edmonton, Canada, 2005.
[15] Joan Sol`a, Teresa Vidal-Calleja, and Michel Devy. Undelayed initialization of line segments in monocular SLAM. In IEEE Int. Conf. on Intelligent Robots and Systems, Saint Louis, USA, 2009. To appear.
slamtb.m
Plucker line (HighLevel/userDataLin.m) http://en.wikipedia.org/wiki/Pl%C3%BCcker_coordinates http://www.cgafaq.info/wiki/Plucker_line_coordinates
direct observation model
http://vismod.media.mit.edu/tech-reports/TR-451/node8.html
inverse observation model
http://vismod.media.mit.edu/tech-reports/TR-451/node9.html
( source: MIT Media Laboratory's Vision and Modeling group )
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