Bundle adjustment revisited for SLAM with RGBD sensors

Abstract : We 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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Conference papers
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https://hal-cea.archives-ouvertes.fr/cea-01830455
Contributor : Vincent Gay-Bellile <>
Submitted on : Thursday, July 5, 2018 - 9:40:24 AM
Last modification on : Friday, April 12, 2019 - 9:56:16 AM

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Kathia Melbouci, Sylvie Naudet Collette, Vincent Gay-Bellile, Omar Ait-Aider, Mathieu Carrier, et al.. Bundle adjustment revisited for SLAM with RGBD sensors. 2015 14th IAPR International Conference on Machine Vision Applications (MVA), May 2015, Tokyo, Japan. ⟨10.1109/MVA.2015.7153159⟩. ⟨cea-01830455⟩

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