IROS 2015Poster
Layout aware visual tracking and mapping
Authors: Marta Salas, Wajahat Hussain, Alejo Concha, Luis Montano, Javier Civera, J.M.M. Montiel
Abstract
Nowadays real time visual Simultaneous Localization And Mapping (SLAM) algorithms exist and rely on consistent measurements across multiple views. In indoor environments, where majority of robot's activity takes place, severe occlusions can occur, e.g., when turning around a corner or moving from one room to another. In these situations, SLAM algorithms can not establish correspondences across views, which leads to failures in camera localization or map construction.