MGC-VSLAM: A Meshing-Based and Geometric Constraint VSLAM for Dynamic Indoor Environments

Robust vSLAM for Dynamic Scenes

This paper proposes a robust visual Simultaneous Localization and Mapping(vSLAM) method that consists of two parts: (1)an initialization method for a 3D map and camera poses, and (2)an outlier rejection method for moving objects. We introduce weighted tentative initial values of a camera pose and 3-D map to reduce the user operation load. We also distinguish outliers of feature points between m...

Camera Auto Exposure Control for VSLAM Applications

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VSLAM using System on Chip Based Vision

A system utilizing reconfigurable hardware of 8 million gates and one to four CMOS cameras can to be used as a platform for a cooperation project for a video system for VSLAM.

Towards a Hybrid Scene Representation in VSLAM

In their basic form, Visual Simultaneous Localization and Mapping (VSLAM) systems rely on metric maps to produce meaningful camera pose measurements. As researchers shift their focus towards integrating higher levels of data representations, we argue that the performance of such systems requires a mutually beneficial, tight integration between metric, topological and semantic maps. Therefore, w...

High Speed vSLAM Using System-on-Chip Based Vision