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Title:

Scale-preserving long-term visual odometry for indoor navigation

Author(s):
Hilsenbeck, Sebastian; Möller, Andreas; Huitl, Robert; Schroth, Georg; Kranz, Matthias; Steinbach, Eckehard
Abstract:
We present a visual odometry system for indoor navigation with a focus on long-term robustness and consistency. As our work is targeting mobile phones, we employ monocular SLAM to jointly estimate a local map and the device's trajectory. We specifically address the problem of estimating the scale factor of both, the map and the trajectory. State-of-the-art solutions approach this problem with an Extended Kalman Filter (EKF), which estimates the scale by fusing inertial and visual data, but stron...     »
Book / Congress title:
2012 International Conference on Indoor Positioning and Indoor Navigation (IPIN)
Year:
2012
Month:
nov.
Pages:
1 -10
Fulltext / DOI:
doi:10.1109/IPIN.2012.6418934
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