Bundle adjustment revisited for SLAM with RGBD sensors
- Melbouci, Kathia
- Collette, Sylvie Naudet
- Gay-Bellile, Vincent
- Ait-Aider, Omar
- Carrier, Mathieu
- Dhome, Michel
Publication date
May 2015
DOI Publisher
Institute of Electrical and Electronics Engineers (IEEE)Abstract
International audienceWe present a method of using depth information provided by an RGB-D sensor, for visual simultaneous localization and mapping (SLAM), in order to improve its accuracy. We present a constraint bundle adjustment which allows to easily combine depth and visual data in cost function entirely expressed in pixel. The proposed approach is evaluated on a public benchmark dataset and compared to the state of art methods
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