A new design for SLAM front-end based on recursive SOM

Xuesi Yang; Shengping Xia

doi:10.1117/12.2205793

14 December 2015 A new design for SLAM front-end based on recursive SOM

Xuesi Yang, Shengping Xia

Proceedings Volume 9812, MIPPR 2015: Automatic Target Recognition and Navigation; 981216 (2015) https://doi.org/10.1117/12.2205793
Event: Ninth International Symposium on Multispectral Image Processing and Pattern Recognition (MIPPR2015), 2015, Enshi, China

Abstract

Aiming at the graph optimization-based monocular SLAM, a novel design for the front-end in single camera SLAM is proposed, based on the recursive SOM. Pixel intensities are directly used to achieve image registration and motion estimation, which can save time compared with the current appearance-based frameworks, usually including feature extraction and matching. Once a key-frame is identified, a recursive SOM is used to actualize loop-closure detecting, resulting a more precise location. The experiment on a public dataset validates our method on a computer with a quicker and effective result.

Citation Download Citation

Xuesi Yang and Shengping Xia "A new design for SLAM front-end based on recursive SOM", Proc. SPIE 9812, MIPPR 2015: Automatic Target Recognition and Navigation, 981216 (14 December 2015); https://doi.org/10.1117/12.2205793

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