Pablo F. Alcantarilla, Luis M. Bergasa Department of Electronics, University of Alcalá, Madrid,...
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Transcript of Pablo F. Alcantarilla, Luis M. Bergasa Department of Electronics, University of Alcalá, Madrid,...
![Page 1: Pablo F. Alcantarilla, Luis M. Bergasa Department of Electronics, University of Alcalá, Madrid, Spain Olivier Stasse, Sebastien Druon Joint Robotics Laboratory,](https://reader036.fdocuments.us/reader036/viewer/2022072011/56649dff5503460f94ae6ccf/html5/thumbnails/1.jpg)
Pablo F. Alcantarilla, Luis M. Bergasa Department of Electronics, University of Alcalá, Madrid, Spain
Olivier Stasse, Sebastien DruonJoint Robotics Laboratory, CNRS-AIST, Tsukuba, Japan
Frank DellaertSchool of Interactive Computing, Georgia Institute of Technology, Atlanta, USA
Submission to Autonomous Robots
![Page 2: Pablo F. Alcantarilla, Luis M. Bergasa Department of Electronics, University of Alcalá, Madrid, Spain Olivier Stasse, Sebastien Druon Joint Robotics Laboratory,](https://reader036.fdocuments.us/reader036/viewer/2022072011/56649dff5503460f94ae6ccf/html5/thumbnails/2.jpg)
• STEREO VISUAL SLAM• We learn a 3D map of the environment, by means
of stereo visual SLAM techniques
![Page 3: Pablo F. Alcantarilla, Luis M. Bergasa Department of Electronics, University of Alcalá, Madrid, Spain Olivier Stasse, Sebastien Druon Joint Robotics Laboratory,](https://reader036.fdocuments.us/reader036/viewer/2022072011/56649dff5503460f94ae6ccf/html5/thumbnails/3.jpg)
• MONOCULAR VISION-BASED
LOCALIZATION• Monocular Vision-Based Localization given a prior
3D map and camera poses from a previous 3D reconstruction
• We perform Visibility Prediction to predict the most highly visible 3D points given a prior camera pose
• Then, we establish 2D-3D correspondences between
detected 2D features and 3D map elements
• Finally, after data association we solve the PnP problem
and estimate the localization of the robot in the map
![Page 4: Pablo F. Alcantarilla, Luis M. Bergasa Department of Electronics, University of Alcalá, Madrid, Spain Olivier Stasse, Sebastien Druon Joint Robotics Laboratory,](https://reader036.fdocuments.us/reader036/viewer/2022072011/56649dff5503460f94ae6ccf/html5/thumbnails/4.jpg)
• LOCALIZATION EXPERIMENTS
O Detected 2D Features
+ Visible 3D Map Points Re-Projections
Inlier PnP problem
Outlier PnP problem
+ Predicted Visible 3D Points
+ 3D Map Points
RGB Camera Pose
Robot Trajectory