2011 Fiscal Year Final Research Report
Adaptive visual SLAM by composite tracking
| Project/Area Number |
22800018
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| Research Category |
Grant-in-Aid for Research Activity Start-up
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| Allocation Type | Single-year Grants |
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| Research Field |
Perception information processing/Intelligent robotics
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| Research Institution | Tokyo Institute of Technology |
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Principal Investigator |
TORII Akihiko 東京工業大学, 大学院・理工学研究科, 助教 (20585179)
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| Project Period (FY) |
2010 – 2011
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| Keywords | コンピュータビジョン |
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| Research Abstract |
We aimed at proposing visual simultaneous localization and mapping(VSLAM) system which is adaptive and flexible to large changes of scenes and views in image sequences. We deeply studied several feature tracking approaches and figured out that SURF feature tracking is an appropriate choice for accomplishing 3D reconstruction with our VSLAM system. Further, we extended the efficiency of camera tracking algorithm using the key-frame selection algorithm based on a fast image indexing method. Experimental validations and performance evaluations w. r. t. the state of the art structure-from-motion system have achieved on challenging real image sequences acquired under various scene and camera conditions.
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