Creating Metric-topological Maps for Large-scale Monocular SLAM

Eduardo Fernández-Moral, Javier Gonzalez-Jimenez, Vicente Arévalo

2013

Abstract

In the last very few years, monocular SLAM approaches based on bundle adjustment are achieving amazing results in terms of accuracy, computational efficiency, and density of the map. When such solutions are applied on large scenarios it is crucial for the system scalability to maintain a map representation that permits efficient map optimization and augmentation. In order to cope with such large maps, we present an on-the-fly partitioning technique which allows abstraction from the metric map to operate more efficiently. The result is a metric-topological arrangement where the areas with highly-connected observations are grouped in submaps weakly interconnected to each other. This is accomplished by progressively cutting a graph representation of the map, where the nodes are keyframes and the arcs between them represent their shared observations. The experimental results indicate that the proposed approach improves the efficiency of monocular SLAM and provides a metric-topological world representation suitable for other robotic tasks.

Paper Citation

in Harvard Style

Fernández-Moral E., Gonzalez-Jimenez J. and Arévalo V. (2013). Creating Metric-topological Maps for Large-scale Monocular SLAM . In Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-71-6, pages 39-47. DOI: 10.5220/0004438900390047

in Bibtex Style

@conference{icinco13,
author={Eduardo Fernández-Moral and Javier Gonzalez-Jimenez and Vicente Arévalo},
title={Creating Metric-topological Maps for Large-scale Monocular SLAM},
booktitle={Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2013},
pages={39-47},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004438900390047},
isbn={978-989-8565-71-6},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Creating Metric-topological Maps for Large-scale Monocular SLAM
SN - 978-989-8565-71-6
AU - Fernández-Moral E.
AU - Gonzalez-Jimenez J.
AU - Arévalo V.
PY - 2013
SP - 39
EP - 47
DO - 10.5220/0004438900390047