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Object-aware bundle adjustment for correcting monocular scale drift

Abstract:

Without knowledge of the absolute baseline between images, the scale of a map from single-camera simultaneous localization and mapping system is subject to calamitous drift over time. We describe a monocular approach that in addition to point measurements also considers object detections to resolve this scale ambiguity and drift. By placing a prior on the size of the objects, the scale estimation can be seamlessly integrated into a bundle adjustment. When object observations are available,...

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Publication status:
Published
Version:
Published version

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Publisher copy:
10.1109/ICRA.2016.7487680

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Institution:
University of Oxford
Department:
Oxford, MPLS, Engineering Science
More by this author
Institution:
University of Oxford
Department:
Oxford, MPLS, Engineering Science
More by this author
Institution:
University of Oxford
Department:
Oxford, MPLS, Engineering Science
Publisher:
Institute of Electrical and Electronics Engineers Publisher's website
DOI:
URN:
uuid:580d2b5d-f8a0-44bb-bb8b-cd7518b97b16
Source identifiers:
614146
Local pid:
pubs:614146
ISBN:
978-1-4673-8026-3

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