Vision-Based Simultaneous Localization and Map Building: Stereo and Mono SLAM

Date

2009-04-11

Author

Kalay, Adnan
Ulusoy, İlkay

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The simultaneous operation of localization capability which serves to navigation of an autonomous robot and map building mechanism which provides an environmental model is called SLAM (Simultaneous Localization and Map Building). While various sensors are used for this algorithm, vision-based algorithms are relatively new and have attracted more attention in recent years. In this work, while a Visual SLAM algorithm utilizing Extended Kalman Filter is introduced, the two main branches, mono and stereo SLAM algorithms, are also compared.

URI

https://hdl.handle.net/11511/52930

Conference Name

IEEE 17th Signal Processing and Communications Applications Conference

Collections

Department of Electrical and Electronics Engineering, Conference / Seminar

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Citation Formats

A. Kalay and İ. Ulusoy, “Vision-Based Simultaneous Localization and Map Building: Stereo and Mono SLAM,” presented at the IEEE 17th Signal Processing and Communications Applications Conference, Antalya, Turkey, 2009, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/52930.