Rrdslam Radialdistorted Rollingshutter Direct Slam

• doi: 10.1109/ICRA.2017.7989602
• title: RRD-SLAM: Radial-distorted rolling-shutter direct SLAM
• publisher: IEEE
• isbn: 978-1-5090-4634-8
• issn:
• rank: 3353
• access_type: LOCKED
• content_type: Conferences
• abstract: In this paper, we present a monocular direct semi-dense SLAM (Simultaneous Localization And Mapping) method that can handle both radial distortion and rolling-shutter distortion. Such distortions are common in, but not restricted to, situations when an inexpensive wide-angle lens and a CMOS sensor are used, and leads to significant inaccuracy in the map and trajectory estimates if not modeled correctly. The apparent naive solution of simply undistorting the images using pre-calibrated parameters does not apply to this case since rows in the undistorted image are no longer captured at the same time. To address this we develop an algorithm that incorporates radial distortion into an existing state-of-the-art direct semi-dense SLAM system that takes rolling-shutters into account. We propose a method for finding the generalized epipolar curve for each rolling-shutter radially distorted image. Our experiments demonstrate the efficacy of our approach and compare it favorably with the state-of-the-art in direct semi-dense rolling-shutter SLAM.
• article_number: 7989602
• pdf_url: https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7989602
• html_url: https://ieeexplore.ieee.org/document/7989602/
• abstract_url: https://ieeexplore.ieee.org/document/7989602/
• publication_title: 2017 IEEE International Conference on Robotics and Automation (ICRA)
• conference_location: Singapore
• conference_dates: 29 May-3 June 2017
• publication_number: 7960754
• is_number: 7988677
• publication_year: 2017
• publication_date: 29 May-3 June 2017
• start_page: 5148
• end_page: 5154
• citing_paper_count: 4
• citing_patent_count: 3
• download_count: 645
• insert_date: 20170724
• index_terms:
  • ieee_terms:
    • Distortion
    • Cameras
    • Simultaneous localization and mapping
    • Splines (mathematics)
    • Lenses
    • Optical distortion
    • Trajectory
  • dynamic_index_terms:
    • Simultaneous Localization And Mapping
    • Monocular
    • Image Distortion
    • Lens Distortion
    • Radial Distortion
    • Image Deformation
    • Intersection Point
    • Depth Map
    • Function Of Depth
    • Image Point
    • Distortion Effects
    • Principal Plane
    • Center Of The Lens
    • Optical Center
    • Camera Pose
    • Inverse Mapping
    • Degenerate Case
    • Uniform Point
    • Rolling Shutter
    • GoPro Camera
• isbn_formats:
  • format: Print on Demand(PoD) ISBN, value: 978-1-5090-4634-8, isbnType: New-2005
  • format: Electronic ISBN, value: 978-1-5090-4633-1, isbnType: New-2005
• authors:
  • Author Name: Jae-Hak Kim
    Affiliation: School of Computer Science, University of Adelaide, Adelaide, Australia
    Author URL: https://ieeexplore.ieee.org/author/37085817330
    ID: 37085817330
    Order: 1
    Author Affiliations:
    • School of Computer Science, University of Adelaide, Adelaide, Australia
  • Author Name: Yasir Latif
    Affiliation: School of Computer Science, University of Adelaide, Adelaide, Australia
    Author URL: https://ieeexplore.ieee.org/author/38541523400
    ID: 38541523400
    Order: 2
    Author Affiliations:
    • School of Computer Science, University of Adelaide, Adelaide, Australia
  • Author Name: Ian Reid
    Affiliation: School of Computer Science, University of Adelaide, Adelaide, Australia
    Author URL: https://ieeexplore.ieee.org/author/37282640200
    ID: 37282640200
    Order: 3
    Author Affiliations:
    • School of Computer Science, University of Adelaide, Adelaide, Australia

Image Sensor

• sensor_type: CMOS
• resolution: 1920x1080
• dynamic_range: Not explicitly mentioned
• pixel_size: Not explicitly mentioned
• dark_current: Not explicitly mentioned

Optical Data

• focal_length: Not explicitly mentioned
• aperture: Not explicitly mentioned
• field_of_view: Not explicitly mentioned
• distortion: Not explicitly mentioned

Performance Metrics

• frame_rate: 30Hz
• signal_to_noise_ratio: Not explicitly mentioned
• sensitivity: Not explicitly mentioned
• shutter_speed: Not explicitly mentioned
• power_consumption: Not explicitly mentioned
• noise: Not explicitly mentioned

Applications & Benefits

• cell_imaging: Not explicitly mentioned
• benefits: Enables digital imaging in a variety of applications such as smartphones, medical devices, and automotive systems.

Supporting Organizations

• supported_by: Australian Research Council

Manuscript Details

• publication_date: 29 May-3 June 2017

Relevancy Score

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

Processed JSON Filename

request_fe2be397-ead8-410f-ba64-20782f46d91f-rrdslam_radialdistorted_rollingshutter_direct_slam.json