TITLE:
Simultaneous Localization and Mapping Solutions Using Monocular and Stereo Visual Sensors with Baseline Scaling System
AUTHORS:
Akram Afifi, Brendan Woo
KEYWORDS:
SLAM, Vision, Kalman Filter, Monocular, Stereo
JOURNAL NAME:
Positioning,
Vol.10 No.4,
October
16,
2019
ABSTRACT: In this paper, SLAM systems are introduced using monocular and stereo visual
sensors. The SLAM solutions are implemented in both indoor and outdoor. The SLAM samples have been taken in
different modes, such as a straight line that enables us to measure the
drift, in addition to the loop sample that is used to test the loop closure and
its corresponding trajectory deformation. In order to verify the trajectory
scale, a baseline method has been used. In addition, a ground truth has been
captured for both indoor and outdoor samples to measure the biases and drifts
caused by the SLAM solution. Both monocular and stereo SLAM data have been
captured with the same visual sensors which in the stereo situation had a
baseline of 20.00 cm. It has been shown that, the stereo SLAM localization
results are 75% higher precision than the monocular SLAM solution. In addition,
the indoor results of the monocular SLAM are more precise than the outdoor.
However, the outdoor results of the stereo SLAM are more precise than the
indoor results by 30%, which is a result of the small stereo baseline cameras. In the vertical SLAM
localization component, the stereo SLAM generally shows 60% higher precision
than the monocular SLAM results.