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A Relative Formulation for Scalable Real-time 6DOF Visual SLAM  

Authors: Gabe Sibley and Christopher Mei.

Time: 11:35-12:00

This talk discusses a new relative approach to full-SLAM and demonstrates a robust implementation that operates at 20-40hz on 640x480 stereo images. Fast appearance based techniques are used to detect distinct places and close loops automatically in real-time. Adaptive relative bundle adjustment is used to solve for the full relative state estimate -- this allows the system to run incrementally in constant-time, even at loop closure. Finally, we detail many interesting engineering choices made to ensure high-speed operation and robustness to issues such as dynamic objects, motion blur, frame dropping, fog, lens flare and lighting changes.

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