non-linearity analysis of depth and angular indexes for optimal stereo slam非线性分析的深度和角度指标最佳音响大满贯.pdfVIP

Sensors 2010, 10, 4159 - 4179; doi:10.3390/s100404159 OPEN ACCESS sensors ISSN 1424-8220 /journal/sensors Article Non-Linearity Analysis of Depth and Angular Indexes for Optimal Stereo SLAM Luis M. Bergasa , Pablo F. Alcantarilla and David Schleicher ´ ´ Department of Electronics, University of Alcala, Alcala de Henares, Madrid, Spain; E-Mails: pablo.alcantarilla@depeca.uah.es (P.F.A.); dsg68818@ (D.S.) Author to whom correspondence should be addressed; E-Mail: bergasa@depeca.uah.es; Tel.: +34-918856569; Fax: +34-918856591. Received: 22 March 2010; in revised form: 19 April 2010 / Accepted: 20 April 2010 / Published: 26 April 2010 Abstract: In this article, we present a real-time 6DoF egomotion estimation system for indoor environments using a wide-angle stereo camera as the only sensor. The stereo camera is carried in hand by a person walking at normal walking speeds 3–5 km/h. We present the basis for a vision-based system that would assist the navigation of the visually impaired by either providing information about their current position and orientation or guiding them to their destination through different sensing modalities. Our sensor combines two different types of feature parametrization: inverse depth and 3D in order to provide orientation and depth information at the same time. Natural landmarks are extracted from the image and are stored as 3D or inverse depth points, depending on a depth threshold. This depth threshold is used