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Proceedings Paper

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

Paper Details

Date Published: 14 December 2015
PDF: 7 pages
Proc. SPIE 9812, MIPPR 2015: Automatic Target Recognition and Navigation, 981216 (14 December 2015); doi: 10.1117/12.2205793
Show Author Affiliations
Xuesi Yang, National Univ. of Defense Technology (China)
Shengping Xia, National Univ. of Defense Technology (China)


Published in SPIE Proceedings Vol. 9812:
MIPPR 2015: Automatic Target Recognition and Navigation
Nong Sang; Xinjian Chen, Editor(s)

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