Inertial Aiding of Inverse Depth SLAM using a Monocular Camera

• DOI: 10.1109/robot.2007.363895
• Publication Date: 2007-06-07T16:09:21Z
• Authors: Pedro Pinies; Todd Lupton; Salah Sukkarieh; Juan D. Tardos
• Keywords: Monocular

This paper presents the benefits of using a low cost inertial measurement unit to aid in an implementation inverse depth initialized SLAM hand-held monocular camera. Results are presented with and without observations for different assumed initial ranges features on same dataset. When only camera, scale scene is not observable. As expected, map depends prior used initialize may drift when exploring new terrain, precluding loop closure. The results show that help improve estimated trajectory camera leading better estimation more accurate localization features.