Introduction to VSLAM Presentation

출처 : SpaceAnubis, 2013.07

## 1. What is VSLAM
## 2. SfM vs. VSLAM
## 3. Classic Approach : MonoSLAM (EKF-SLAM)
## 4. Current State-of-the-art (2013) : FastSLAM
## 5. Challenge
## 6. DTAM : Dense Tracking and Mapping

1. What is VSLAM

• Sensor

  • 모노카메라
  • 스트레오 카메라
  • 키넥트

• Feature (a.k.a Landmarks

  • point feature
  • Geometric feature (eg. lines, planes)
  • Featureless
  • Object

ROS VSLAM

2. SfM vs. VSLAM

3. Classic Approach : MonoSLAM (EKF-SLAM)

3.1 EKF-SLAM:Mono SLAM (Andrew Davision ICCV 2003)

• Maintains full camera and feature covariance
• Limited to Gaussian uncertainty
• Handheld camera
• Initialized with known target
• Extended kalman filter
  • Constant velocity motion model
  • Image patch features with Active Search
  • Automatic Map Measurement
  • Particle Filter for initialization of new feature

상세 알고리즘 설명 포함되어 있음, 동영상 참고

3.2 SfM Approach (Nister ICCV 2003)

• RANSAC
• Frame-to-Frame motion only

4. Current State-of-the-art (2013) : FastSLAM