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Author (up) German Ros; J. Guerrero; Angel Sappa; Antonio Lopez edit   pdf
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  Title VSLAM pose initialization via Lie groups and Lie algebras optimization Type Conference Article
  Year 2013 Publication Proceedings of IEEE International Conference on Robotics and Automation Abbreviated Journal  
  Volume Issue Pages 5740 - 5747  
  Keywords SLAM  
  Abstract We present a novel technique for estimating initial 3D poses in the context of localization and Visual SLAM problems. The presented approach can deal with noise, outliers and a large amount of input data and still performs in real time in a standard CPU. Our method produces solutions with an accuracy comparable to those produced by RANSAC but can be much faster when the percentage of outliers is high or for large amounts of input data. On the current work we propose to formulate the pose estimation as an optimization problem on Lie groups, considering their manifold structure as well as their associated Lie algebras. This allows us to perform a fast and simple optimization at the same time that conserve all the constraints imposed by the Lie group SE(3). Additionally, we present several key design concepts related with the cost function and its Jacobian; aspects that are critical for the good performance of the algorithm.  
  Address Karlsruhe; Germany; May 2013  
  Corporate Author Thesis  
  Publisher Place of Publication Editor  
  Language Summary Language Original Title  
  Series Editor Series Title Abbreviated Series Title  
  Series Volume Series Issue Edition  
  ISSN 1050-4729 ISBN 978-1-4673-5641-1 Medium  
  Area Expedition Conference ICRA  
  Notes ADAS; 600.054; 600.055; 600.057 Approved no  
  Call Number Admin @ si @ RGS2013a; ADAS @ adas @ Serial 2225  
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