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Pablo F. Alcantarilla , Luis M. Bergasa

Pablo F. Alcantarilla , Luis M. Bergasa Department of Electronics, University of Alcalá, Madrid, Spain Olivier Stasse, Sebastien Druon Joint Robotics Laboratory, CNRS-AIST, Tsukuba, Japan Frank Dellaert School of Interactive Computing, Georgia Institute of Technology, Atlanta, USA

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Pablo F. Alcantarilla , Luis M. Bergasa

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  1. Pablo F. Alcantarilla, Luis M. Bergasa Department of Electronics, University of Alcalá, Madrid, Spain Olivier Stasse, Sebastien Druon Joint Robotics Laboratory, CNRS-AIST, Tsukuba, Japan Frank Dellaert School of Interactive Computing, Georgia Institute of Technology, Atlanta, USA Submission to Autonomous Robots

  2. STEREO VISUAL SLAM • We learn a 3D map of the environment, by means of stereo visual SLAM techniques

  3. MONOCULAR VISION-BASED LOCALIZATION • Monocular Vision-Based Localization given a prior 3D map and camera poses from a previous 3D reconstruction • We perform Visibility Prediction to predict the most highly visible 3D points given a prior camera pose • Then, we establish 2D-3D correspondences between detected 2D features and 3D map elements • Finally, after data association we solve the PnP problem and estimate the localization of the robot in the map

  4. LOCALIZATION EXPERIMENTS O Detected 2D Features + Visible 3D Map Points Re-Projections Inlier PnP problem Outlier PnP problem + Predicted Visible 3D Points + 3D Map Points RGB Camera Pose Robot Trajectory

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