Fontan, Alejandro und Giubilato, Riccardo und Oliva, Laura und Civera, Javier und Triebel, Rudolph (2023) SID-SLAM: Semi-Direct Information-Driven RGB-D SLAM. IEEE Robotics and Automation Letters, Seiten 1-8. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2023.3251722. ISSN 2377-3766.
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Offizielle URL: https://ieeexplore.ieee.org/document/10058038
Kurzfassung
This work presents SID-SLAM, a complete SLAM framework for RGB-D cameras. Our main contribution is a semi- direct approach that, for the first time, combines tightly and indistinctly photometric and feature-based image measurements. Additionally, SID-SLAM uses information metrics to reduce the state size with a minimal impact in the accuracy. Our evaluation on several public datasets shows that we achieve state-of-the-art performance regarding accuracy, robustness and computational footprint in CPU real time. In order to facilitate research on semi- direct SLAM, we record the Minimal Texture dataset, composed by RGB-D sequences challenging for current baselines and in which our pipeline excels.
elib-URL des Eintrags: | https://elib.dlr.de/194874/ | ||||||||||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||||||||||
Titel: | SID-SLAM: Semi-Direct Information-Driven RGB-D SLAM | ||||||||||||||||||||||||
Autoren: |
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Datum: | 2 März 2023 | ||||||||||||||||||||||||
Erschienen in: | IEEE Robotics and Automation Letters | ||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||||||
DOI: | 10.1109/LRA.2023.3251722 | ||||||||||||||||||||||||
Seitenbereich: | Seiten 1-8 | ||||||||||||||||||||||||
Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||||||||||
ISSN: | 2377-3766 | ||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||
Stichwörter: | Localization, SLAM | ||||||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - E3D: Algorithmen und Applikation (RM) [RO] | ||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Perzeption und Kognition | ||||||||||||||||||||||||
Hinterlegt von: | Stürzl, Wolfgang | ||||||||||||||||||||||||
Hinterlegt am: | 27 Apr 2023 10:12 | ||||||||||||||||||||||||
Letzte Änderung: | 26 Jul 2023 11:48 |
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