Dipak Mahadeo Suman Jogle (Y7111010)
Supervisor: Dr. Amitabha Mukerjee
Abstract
Simultaneous localization and mapping (SLAM) has traditionally relied on laser range finders and the use of vision from SLAM is relatively new. Approaches such as MonoSLAM (Single camera SLAM) have suffered from two problems: (a) manual camera calibration at start, (b) tracking loss after relatively short period. In this work, we developed CSLAM (Calibration integrated SLAM) which address problem (a) by providing as auto-initialisation mechanism based on the homography computed for a known planar 2D object.
For the problem of track-loss, we use two-view geometric and calculate the
motion of the camera between two consecutive frames. Whenever the calibration
object is visible, we have adequate number of features for our calculation at
any frame in the scene. The present approach is limited to only the situations
where the calibration object was continuously visible. The approach provides a
mechanism for direct camera calibration resulting in improved camera trajectory.