Realtime Slam With A Highspeed Cmos Camera

• doi: 10.1109/ICIAP.2007.4362795
• title: Real-Time SLAM with a High-Speed CMOS Camera
• publisher: IEEE
• isbn: 978-0-7695-2877-9
• issn:
• partnum: 07PR2877
• rank: 3398
• access_type: LOCKED
• content_type: Conferences
• abstract: A typical task in mobile robotics or augmented reality applications is self-localization in an unknown environment. In the robotics community the localization and mapping of the unknown environment is called SLAM (simultaneous localization and mapping). Important constraints in SLAM using visual input are real-time processing and robustness against motion blur or jitter. The contribution of this paper is in enhancing the performance of a well known SLAM method using a high-speed CMOS camera. Benefits of this camera are that it allows fast image processing, little motion blur and low localization uncertainty. SLAM performance with a high-speed camera is demonstrated on a robotic arm. The result of the experiments is that for SLAM applications in robotics, where the motion is not smooth, the high-speed CMOS camera is a more suitable sensor than a standard CCD camera.
• article_number: 4362795
• pdf_url: https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=4362795
• html_url: https://ieeexplore.ieee.org/document/4362795/
• abstract_url: https://ieeexplore.ieee.org/document/4362795/
• publication_title: 14th International Conference on Image Analysis and Processing (ICIAP 2007)
• conference_location: Modena, Italy
• conference_dates: 10-14 Sept. 2007
• publication_number: 4362741
• is_number: 4362742
• publication_year: 2007
• publication_date: 10-14 Sept. 2007
• start_page: 297
• end_page: 302
• citing_paper_count: 6
• citing_patent_count: 0
• download_count: 487
• insert_date: 20071029
• index_terms:
  • ieee_terms:
    • Simultaneous localization and mapping
    • CMOS image sensors
    • Cameras
    • Robot vision systems
    • Robot sensing systems
    • Charge-coupled image sensors
    • Mobile robots
    • Augmented reality
    • Robustness
    • Jitter
  • dynamic_index_terms:
    • High-speed Camera
    • Simultaneous Localization And Mapping
    • High-speed CMOS
    • High-speed CMOS Camera
    • CCD Camera
    • Charge-coupled Device
    • Fast Process
    • Robotic Arm
    • Position Uncertainty
    • Localization Uncertainty
    • Unknown Environment
    • Motion Blur
    • Augmented Reality Applications
    • Suitable Sensor
    • Image Plane
    • Angular Velocity
    • Rotational Velocity
    • Maximum Velocity
    • Terminal Velocity
    • 3D Space
    • 3-dimensional Space
    • Inertial Measurement Unit
    • Inertial Sensors
    • Motion Patterns
    • 3D Position
    • 3D Location
    • Linear Velocity
    • Velocity Limits
    • Landmark Localization
    • Landmark Positions
    • Single Camera
    • Camera Orientation
    • Camera Motion
    • Extended Kalman Filter
    • Pentium IV
    • Drift Motion
    • Mapping Mode
    • Angular Acceleration
    • Rotational Acceleration
• isbn_formats:
  • format: Print ISBN, value: 978-0-7695-2877-9, isbnType: New-2005
  • format: Print ISBN, value: 0-7695-2877-5, isbnType: Historical
• authors:
  • Author Name: Peter Gemeiner
    Affiliation: Automation and Control Institute, University of Technology, Vienna, Vienna, Austria
    Author URL: https://ieeexplore.ieee.org/author/37564347900
    ID: 37564347900
    Order: 1
    Author Affiliations:
    • Automation and Control Institute, University of Technology, Vienna, Vienna, Austria
  • Author Name: Wolfgang Ponweiser
    Affiliation: Automation and Control Institute, University of Technology, Vienna, Vienna, Austria
    Author URL: https://ieeexplore.ieee.org/author/37269162400
    ID: 37269162400
    Order: 2
    Author Affiliations:
    • Automation and Control Institute, University of Technology, Vienna, Vienna, Austria
  • Author Name: Peter Einramhof
    Affiliation: Automation and Control Institute, University of Technology, Vienna, Vienna, Austria
    Author URL: https://ieeexplore.ieee.org/author/37597680100
    ID: 37597680100
    Order: 3
    Author Affiliations:
    • Automation and Control Institute, University of Technology, Vienna, Vienna, Austria
  • Author Name: Markus Vincze
    Affiliation: Automation and Control Institute, University of Technology, Vienna, Vienna, Austria
    Author URL: https://ieeexplore.ieee.org/author/37269163100
    ID: 37269163100
    Order: 4
    Author Affiliations:
    • Automation and Control Institute, University of Technology, Vienna, Vienna, Austria

Image Sensor

• sensor_type: CMOS
• resolution: 1024x1024
• dynamic_range: Not specified
• pixel_size: Not specified
• dark_current: Not specified

Optical Data

• focal_length: Not specified
• aperture: Not specified
• field_of_view: Not specified
• distortion: Not specified

Performance Metrics

• frame_rate: 400Hz for 4x4 pixels, 200Hz for 64x64 pixels
• noise: Higher noise compared to CCD due to fixed-pattern noise

Applications & Benefits

• cell_imaging: Not specified
• benefits: Higher sampling rates, little motion blur, faster processing, more visual information

Supporting Organizations

• supported_by: Austrian Science Foundation, European Union projects XPERO and MOVEMENT

Manuscript Details

• publication_date: 10-14 Sept. 2007

Relevancy Score

• score: 8
• missing_fields:
  • dynamic_range
  • fill_factor
  • quantum_efficiency
  • dark_current
  • pixel_size
  • focal_length
  • aperture
  • field_of_view
  • distortion
  • signal_to_noise_ratio
  • sensitivity
  • shutter_speed
  • power_consumption

Processed JSON Filename

request_782ef3d5-8fcb-4520-9752-073efc2204e2-realtime_slam_with_a_highspeed_cmos_camera.json