A hybrid visual-based SLAM architecture: local filter-based SLAM with keyframe-based global mapping
Tipus de documentArticle
EditorMultidisciplinary Digital Publishing Institute (MDPI)
Condicions d'accésAccés obert
This work presents a hybrid visual-based SLAM architecture that aims to take advantage of the strengths of each of the two main methodologies currently available for implementing visual-based SLAM systems, while at the same time minimizing some of their drawbacks. The main idea is to implement a local SLAM process using a filter-based technique, and enable the tasks of building and maintaining a consistent global map of the environment, including the loop closure problem, to use the processes implemented using optimization-based techniques. Different variants of visual-based SLAM systems can be implemented using the proposed architecture. This work also presents the implementation case of a full monocular-based SLAM system for unmanned aerial vehicles that integrates additional sensory inputs. Experiments using real data obtained from the sensors of a quadrotor are presented to validate the feasibility of the proposed approach
CitacióMunguia, R.F. [et al.]. A hybrid visual-based SLAM architecture: local filter-based SLAM with keyframe-based global mapping. "Sensors (Switzerland)", 29 Desembre 2021, vol. 22, núm. 1, p. 210:1-210:22.
Versió de l'editorhttps://www.mdpi.com/1424-8220/22/1/210