CurveSLAM: An approach for vision-based navigation without point features

Dushyant Rao, Soon Jo Chung, Seth Hutchinson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Existing approaches to visual Simultaneous Localization and Mapping (SLAM) typically utilize points as visual feature primitives to represent landmarks in the environment. Since these techniques mostly use image points from a standard feature point detector, they do not explicitly map objects or regions of interest. Our work is motivated by the need for different SLAM techniques in path and riverine settings, where feature points can be scarce or may not adequately represent the environment. Accordingly, the proposed approach uses cubic Bézier curves as stereo vision primitives and offers a novel SLAM formulation to update the curve parameters and vehicle pose. This method eliminates the need for point-based stereo matching, with an optimization procedure to directly extract the curve information in the world frame from noisy edge measurements. Further, the proposed algorithm enables navigation with fewer feature states than most point-based techniques, and is able to produce a map which only provides detail in key areas. Results in simulation and with vision data validate that the proposed method can be effective in estimating the 6DOF pose of the stereo camera, and can produce structured, uncluttered maps.

Original languageEnglish (US)
Title of host publication2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Pages4198-4204
Number of pages7
DOIs
StatePublished - Dec 1 2012
Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
Duration: Oct 7 2012Oct 12 2012

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
CountryPortugal
CityVilamoura, Algarve
Period10/7/1210/12/12

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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    Rao, D., Chung, S. J., & Hutchinson, S. (2012). CurveSLAM: An approach for vision-based navigation without point features. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012 (pp. 4198-4204). [6385764] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2012.6385764