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NID-SLAM: Robust monocular SLAM using normalised information distance

Abstract:

We propose a direct monocular SLAM algorithm based on the Normalised Information Distance (NID) metric. In contrast to current state-of-the-art direct methods based on photometric error minimisation, our information-theoretic NID metric provides robustness to appearance variation due to lighting, weather and structural changes in the scene. We demonstrate successful localisation and mapping across changes in lighting with a synthetic indoor scene, and across changes in weather (direct sun, ra...

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Publication status:
Published
Peer review status:
Peer reviewed
Version:
Accepted manuscript

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Publisher copy:
10.1109/CVPR.2017.158

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Institution:
University of Oxford
Division:
MPLS Division
Department:
Engineering Science
More by this author
Institution:
University of Oxford
Division:
MPLS Division
Department:
Engineering Science
More by this author
Institution:
University of Oxford
Division:
MPLS Division
Department:
Engineering Science
More by this author
Institution:
University of Oxford
Division:
MPLS Division
Department:
Engineering Science
More by this author
Institution:
University of Oxford
Division:
MPLS Division
Department:
Engineering Science
Oxford college:
Keble College
Publisher:
Institute of Electrical and Electronics Engineers Publisher's website
Pages:
1446-1455
Publication date:
2017-11-09
Acceptance date:
2017-03-03
DOI:
ISSN:
1063-6919 and 978-1-5386-0457-1
Pubs id:
pubs:817400
URN:
uri:913a8d24-904f-4aa8-9d39-834f89427e44
UUID:
uuid:913a8d24-904f-4aa8-9d39-834f89427e44
Local pid:
pubs:817400
ISBN:
978-1-5386-0458-8

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