On Keyframe Positioning for Pose Graphs Applied to Visual SLAM

Andru Putra Twinanda (1) , Maxime Meilland (1) , Désiré Sidibé (2) , Andrew I. Comport (1)

1 Laboratoire d'Informatique, Signaux, et Systèmes de Sophia-Antipolis (I3S) / Equipe SYSTEMES
2 Le2i - Equipe combinatoire

In this work, a new method is introduced for localization and keyframe identification to solve a Simultaneous Localization and Mapping (SLAM) problem. The proposed approach is based on a dense spherical acquisition system that synthesizes spherical intensity and depth images at arbitrary locations. The images are related by a graph of 6 degrees-of-freedom (DOF) poses which are estimated through spherical registration. A direct image-based method is provided to estimate pose by using both depth and color information simultaneously. A new keyframe identification method is proposed to build the map of the environment by using the covariance matrix between raletive 6 DOF poses, which is basically the uncertainty of the estimated pose. This new approach is shown to be more robust than an error-based keyframe identification method. Navigation using the maps built from our method also gives less trajectory error than using maps from other methods.

Domaines: Vision par ordinateur et reconnaissance de formes [cs.CV]; Robotique [cs.RO]; Automatique / Robotique; Traitement du signal et de l'image [eess.SP]

Andru Putra Twinanda, Maxime Meilland, Désiré Sidibé, Andrew I. Comport. On Keyframe Positioning for Pose Graphs Applied to Visual SLAM. IEEE/RSJ International Conference on Intelligent Robots and Systems, 5th Workshop on Planning, Perception and Navigation for Intelligent Vehicles, Nov 2013, Tokyo, Japan. ⟨hal-01357358⟩