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Title: SLAM using camera and IMU sensors.

Abstract

Visual simultaneous localization and mapping (VSLAM) is the problem of using video input to reconstruct the 3D world and the path of the camera in an 'on-line' manner. Since the data is processed in real time, one does not have access to all of the data at once. (Contrast this with structure from motion (SFM), which is usually formulated as an 'off-line' process on all the data seen, and is not time dependent.) A VSLAM solution is useful for mobile robot navigation or as an assistant for humans exploring an unknown environment. This report documents the design and implementation of a VSLAM system that consists of a small inertial measurement unit (IMU) and camera. The approach is based on a modified Extended Kalman Filter. This research was performed under a Laboratory Directed Research and Development (LDRD) effort.

Authors:
;
Publication Date:
Research Org.:
Sandia National Laboratories
Sponsoring Org.:
USDOE
OSTI Identifier:
961651
Report Number(s):
SAND2007-2462
TRN: US200920%%194
DOE Contract Number:
AC04-94AL85000
Resource Type:
Technical Report
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING; CAMERAS; DESIGN; NAVIGATION; ROBOTS; DATA PROCESSING; Visualization.; Video.; Visualization-Data processing.; Visual aids.; Information visualization.

Citation Formats

Rothganger, Fredrick H., and Muguira, Maritza M. SLAM using camera and IMU sensors.. United States: N. p., 2007. Web. doi:10.2172/961651.
Rothganger, Fredrick H., & Muguira, Maritza M. SLAM using camera and IMU sensors.. United States. doi:10.2172/961651.
Rothganger, Fredrick H., and Muguira, Maritza M. Mon . "SLAM using camera and IMU sensors.". United States. doi:10.2172/961651. https://www.osti.gov/servlets/purl/961651.
@article{osti_961651,
title = {SLAM using camera and IMU sensors.},
author = {Rothganger, Fredrick H. and Muguira, Maritza M.},
abstractNote = {Visual simultaneous localization and mapping (VSLAM) is the problem of using video input to reconstruct the 3D world and the path of the camera in an 'on-line' manner. Since the data is processed in real time, one does not have access to all of the data at once. (Contrast this with structure from motion (SFM), which is usually formulated as an 'off-line' process on all the data seen, and is not time dependent.) A VSLAM solution is useful for mobile robot navigation or as an assistant for humans exploring an unknown environment. This report documents the design and implementation of a VSLAM system that consists of a small inertial measurement unit (IMU) and camera. The approach is based on a modified Extended Kalman Filter. This research was performed under a Laboratory Directed Research and Development (LDRD) effort.},
doi = {10.2172/961651},
journal = {},
number = ,
volume = ,
place = {United States},
year = {Mon Jan 01 00:00:00 EST 2007},
month = {Mon Jan 01 00:00:00 EST 2007}
}

Technical Report:

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