Using symmetrical regions of interest to improve visual SLAM

Gert Kootstra*, Lambert R.B. Schomaker

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference paper

2 Citations (Scopus)

Abstract

Simultaneous Localization and Mapping (SLAM) based on visual information is a challenging problem. One of the main problems with visual SLAM is to find good quality landmarks, that can be detected despite noise and small changes in viewpoint. Many approaches use SIFT interest points as visual landmarks. The problem with the SIFT interest points detector, however, is that it results in a large number of points, of which many are not stable across observations. We propose the use of local symmetry to find regions of interest instead. Symmetry is a stimulus that occurs frequently in everyday environments where our robots operate in, making it useful for SLAM. Furthermore, symmetrical forms are inherently redundant, and can therefore be more robustly detected. By using regions instead of points-of-interest, the landmarks are more stable. To test the performance of our model, we recorded a SLAM database with a mobile robot, and annotated the database by manually adding ground-truth positions. The results show that symmetrical regions-of-interest are less susceptible to noise, are more stable, and above all, result in better SLAM performance.

Original languageEnglish
Title of host publication2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
PublisherIEEE Xplore
Pages930-935
Number of pages6
ISBN (Print)9781424438044
DOIs
Publication statusPublished - 11 Dec 2009
Externally publishedYes
Event2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States
Duration: 11 Oct 200915 Oct 2009

Publication series

Name2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Conference

Conference2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
CountryUnited States
CitySt. Louis, MO
Period11/10/0915/10/09

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