Improving Localization Robustness in Monocular SLAM Using a High-Speed Camera

摘要

In the robotics community localization and mapping of an unknown environment is a well-studied problem. To solve this problem in real-time using visual input, a standard monocular Simultaneous Localization and Mapping (SLAM) algorithm can be used. This algorithm is very stable when smooth motion is expected, but in case of erratic or sudden movements, the camera pose typically gets lost. To improve robustness in Monocular SLAM (MonoSLAM) we propose to use a camera with faster readout speed to obtain a frame rate of 200Hz. We further present an extended MonoSLAM motion model, which can handle movements with significant jitter. In this work the improved localization and mapping have been evaluated against ground truth, which is reconstructed from off-line vision. To explain the benefits of using a high frame rate vision input in MonoSLAM framework, we performed repeatable experiments with a high-speed camera mounted onto a robotic arm. Due to the dense visual information MonoSLAM can faster shrink localization and mapping uncertainties and can operate under fast, erratic, or sudden movements. The extended motion model can provide additional robustness against significant handheld jitter when throwing or shaking the camera.