Relative Formulation for Scalable Real-time 6DOF Visual SLAM
Authors: Gabe Sibley and Christopher Mei.
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.