Lab Meeting June 21th, 2009 (swem): Improved Inverse-Depth Parameterization for Monocular Simultaneous Localization and Mapping

Title: Improved Inverse-Depth Parameterization for Monocular
Simultaneous Localization and Mapping
In: ICRA2009

Author: E. Imre, M.-O. Berger, N. Noury

Abstract:

Inverse-depth parameterization can successfully
deal with the feature initialization problem in monocular
simultaneous localization and mapping applications. However,
it is redundant, and when multiple landmarks are initialized
from the same image, it fails to enforce the “common origin”
constraint. The authors propose two new variants that
addresses both of these issues. The experimental results indicate
that the proposed approach achieves a better performance at a
lower computational cost.

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