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Household Service Robotics by Xinyu Wu, Huihuan Qian, Yangsheng Xu

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Chapter 3.4

Monocular SLAM with Undelayed Initialization for an Indoor Robot1

Kiwan Choi, Jiyoung Park, Yeon-Ho Kim,  and Hyoung-Ki Lee     Micro Systems Laboratory, Samsung Advanced Institute of Technology, Samsung Electronics Inc., Yongin-Si, Gyeonggi-Do, South Korea

Abstract

This chapter presents a new feature initialization method for monocular EKF SLAM (Extended Kalman Filter Simultaneous Localization and Mapping) which utilizes a 3D measurement model in the camera frame rather than a 2D pixel coordinate in the image plane. The key idea is to consider a camera as a range and bearing sensor, of which the range information contains numerous uncertainties. 2D pixel coordinates of measurement are converted to 3D points in the camera frame with an ...

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