Chapter 3.4
Monocular SLAM with Undelayed Initialization for an Indoor Robot1
Kiwan Choi, Jiyoung Park, Yeon-Ho Kim, and Hyoung-Ki Lee Micro Systems Laboratory, Samsung Advanced Institute of Technology, Samsung Electronics Inc., Yongin-Si, Gyeonggi-Do, South Korea
Abstract
This chapter presents a new feature initialization method for monocular EKF SLAM (Extended Kalman Filter Simultaneous Localization and Mapping) which utilizes a 3D measurement model in the camera frame rather than a 2D pixel coordinate in the image plane. The key idea is to consider a camera as a range and bearing sensor, of which the range information contains numerous uncertainties. 2D pixel coordinates of measurement are converted to 3D points in the camera frame with an ...
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