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A Robust Approach for a Filter-Based Monocular Simultaneous Localization and Mapping (SLAM) System
Department of Computer Science, CUCEI, University of Guadalajara, Av. Revolución 1500 Modulo "O" Col. Olimpica, Guadalajara 44830, Jalisco, Mexico
Center for Research and Advanced Studies, CINVESTAV, Unidad Guadalajara, Av. del Bosque 1145, Col. El Bajío, Zapopan 45015, Jalisco, Mexico
Department of Automatic Control, Technical University of Catalonia, C. Pau Gargallo 5 Campus Diagonal Sud Edifici U., Barcelona 08028, Spain
* Author to whom correspondence should be addressed.
Received: 27 April 2013; in revised form: 27 May 2013 / Accepted: 19 June 2013 / Published: 3 July 2013
Abstract: Simultaneous localization and mapping (SLAM) is an important problem to solve in robotics theory in order to build truly autonomous mobile robots. This work presents a novel method for implementing a SLAM system based on a single camera sensor. The SLAM with a single camera, or monocular SLAM, is probably one of the most complex SLAM variants. In this case, a single camera, which is freely moving through its environment, represents the sole sensor input to the system. The sensors have a large impact on the algorithm used for SLAM. Cameras are used more frequently, because they provide a lot of information and are well adapted for embedded systems: they are light, cheap and power-saving. Nevertheless, and unlike range sensors, which provide range and angular information, a camera is a projective sensor providing only angular measurements of image features. Therefore, depth information (range) cannot be obtained in a single step. In this case, special techniques for feature system-initialization are needed in order to enable the use of angular sensors (as cameras) in SLAM systems. The main contribution of this work is to present a novel and robust scheme for incorporating and measuring visual features in filtering-based monocular SLAM systems. The proposed method is based in a two-step technique, which is intended to exploit all the information available in angular measurements. Unlike previous schemes, the values of parameters used by the initialization technique are derived directly from the sensor characteristics, thus simplifying the tuning of the system. The experimental results show that the proposed method surpasses the performance of previous schemes.
Keywords: monocular SLAM; mobile robotics; stochastic estimation; localization; mapping
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Munguía, R.; Castillo-Toledo, B.; Grau, A. A Robust Approach for a Filter-Based Monocular Simultaneous Localization and Mapping (SLAM) System. Sensors 2013, 13, 8501-8522.
Munguía R, Castillo-Toledo B, Grau A. A Robust Approach for a Filter-Based Monocular Simultaneous Localization and Mapping (SLAM) System. Sensors. 2013; 13(7):8501-8522.
Munguía, Rodrigo; Castillo-Toledo, Bernardino; Grau, Antoni. 2013. "A Robust Approach for a Filter-Based Monocular Simultaneous Localization and Mapping (SLAM) System." Sensors 13, no. 7: 8501-8522.