Conference item icon

Conference item

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...

Expand abstract
Publication status:
Published
Peer review status:
Peer reviewed

Actions


Access Document


Files:
Publisher copy:
10.1109/CVPR.2017.158

Authors


More by this author
Institution:
University of Oxford
Division:
MPLS Division
Department:
Engineering Science
Role:
Author
More by this author
Institution:
University of Oxford
Division:
MPLS Division
Department:
Engineering Science
Role:
Author
More by this author
Institution:
University of Oxford
Division:
MPLS Division
Department:
Engineering Science
Role:
Author
More by this author
Institution:
University of Oxford
Division:
MPLS Division
Department:
Engineering Science
Role:
Author
More by this author
Institution:
University of Oxford
Division:
MPLS
Department:
Engineering Science
Oxford college:
Keble College
Role:
Author
Publisher:
Institute of Electrical and Electronics Engineers Publisher's website
Host title:
2017 IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 21-26 July 2017, Honolulu, HI, USA
Journal:
IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Honolulu, HI Journal website
Pages:
1446-1455
Publication date:
2017-11-09
Acceptance date:
2017-03-03
DOI:
ISSN:
1063-6919 and 978-1-5386-0457-1
Source identifiers:
817400
ISBN:
9781538604588
Pubs id:
pubs:817400
UUID:
uuid:913a8d24-904f-4aa8-9d39-834f89427e44
Local pid:
pubs:817400
Deposit date:
2018-01-12

Terms of use


Views and Downloads






If you are the owner of this record, you can report an update to it here: Report update to this record

TO TOP