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A Constant-Time Efficient Stereo SLAM System
2009
Procedings of the British Machine Vision Conference 2009
Continuous, real-time mapping of an environment using a camera requires a constanttime estimation engine. This rules out optimal global solving such as bundle adjustment. In this article, we investigate the precision that can be achieved with only local estimation of motion and structure provided by a stereo pair. We introduce a simple but novel representation of the environment in terms of a sequence of relative locations. We demonstrate precise local mapping and easy navigation using the
doi:10.5244/c.23.54
dblp:conf/bmvc/MeiSCNR09
fatcat:m2vrit76szcy3evgqriy7ciqi4