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Publication type: Article in Proceedings
Author: Christoph Hertzberg, René Wagner, Oliver Birbach, Tobias Hammer, Udo Frese
Title: Experiences in Building a Visual SLAM System from Open Source Components
Book / Collection title: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China
Year published: 2011
Abstract: This paper shows that the field of visual SLAM has matured enough to build a visual SLAM system from open source components. The system consists of feature detection, data association, and sparse bundle adjustment. For all three modules we evaluate different libraries w.r.t. ground truth. We also present an extension of the SLAM system to create dense voxel-maps. It employs dense stereo-matching and volumetric mapping using the poses obtained from bundle adjustment, both implemented with open source libraries. Apart from quantitative comparison we also report on specific experiences with the various libraries.
Internet: http://informatik.uni-bremen.de/agebv/en/pub/hertzbergicra11
PDF Version: http://www.informatik.uni-bremen.de/agebv/downloads/published/hertzberg_icra_11.pdf
Status: Reviewed
Last updated: 24. 08. 2016

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