This paper proposes a novel monocular SLAM approach. For a triplet of successive keyframes, the approach inteleaves the registration of the three 3D maps associated to each image pair in the triplet and the refinement of the corresponding poses, by progressively limiting the allowable reprojection error according to a simulated annealing scheme. This approach computes only local overlapping maps of almost constant size, thus avoiding problems of 3D map growth. It does not require global optimization, loop closure and back-correction of the poses
Fanfani M., Bellavia F., Pazzaglia F., Colombo C. (2013). SAMSLAM: Simulated annealing monocular SLAM. In R. Wilson, E. Hancock, A. Bors, W. Smith (a cura di), Computer Analysis of Images and Patterns (pp. 515-522) [10.1007/978-3-642-40246-3_64].
SAMSLAM: Simulated annealing monocular SLAM
Bellavia F.;
2013-01-01
Abstract
This paper proposes a novel monocular SLAM approach. For a triplet of successive keyframes, the approach inteleaves the registration of the three 3D maps associated to each image pair in the triplet and the refinement of the corresponding poses, by progressively limiting the allowable reprojection error according to a simulated annealing scheme. This approach computes only local overlapping maps of almost constant size, thus avoiding problems of 3D map growth. It does not require global optimization, loop closure and back-correction of the poses
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