Visual Simultaneous Localisation and Mapping (SLAM) is concerned with simultaneously estimating the pose of a camera and a map of the environment from a sequence of images. Traditionally, sparse maps comprising isolated point features have been employed, which facilitate robust localisation but are not well suited to advanced applications. In this thesis, we present map representations that allow a more dense description of the environment. In one approach, planar features are used to represent textured planar surfaces in the scene. This model is applied within a visual SLAM framework based on the Extended Kalman Filter. We presents solutions to several challenges which arise from this approach.
| Identifer | oai:union.ndltd.org:DRESDEN/oai:qucosa.de:bsz:14-qucosa-78943 |
| Date | 05 December 2011 |
| Creators | Pietzsch, Tobias |
| Contributors | Technische Universität Dresden, Fakultät Informatik, Prof. Dr. rer. nat. habil. Steffen Hölldobler, Prof. Dr. rer. nat. habil. Steffen Hölldobler, Dr. Andrew Davison |
| Publisher | Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden |
| Source Sets | Hochschulschriftenserver (HSSS) der SLUB Dresden |
| Language | English |
| Detected Language | English |
| Type | doc-type:doctoralThesis |
| Format | application/pdf |
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