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- W2129477936 abstract "This paper presents a method of 3D SLAM using a single camera. We utilize a Rao-Blackwellised particle filter (RBPF) to deal with a large number of landmarks. A difficulty in monocular SLAM is robustness to outliers and noise, which may cause false estimates especially under short baseline conditions. We propose an exhaustive pose-space search that finds all the plausible hypotheses efficiently using epipolar geometry. The obtained pose hypotheses are refined by the RBPF. Simulations and experiments show that the proposed method successfully performed 3D SLAM with a small number of particles." @default.
- W2129477936 created "2016-06-24" @default.
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- W2129477936 date "2007-04-01" @default.
- W2129477936 modified "2023-09-26" @default.
- W2129477936 title "Monocular SLAM Using a Rao-Blackwellised Particle Filter with Exhaustive Pose Space Search" @default.
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- W2129477936 doi "https://doi.org/10.1109/robot.2007.363682" @default.
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