Uma abordagem direta e desacoplada de SLAM visual

Abstract

In Simultaneous Localization and Mapping (SLAM - Simultaneous Localization and Mapping), a robot placed in an unknown location in any environment must be able to create a perspective of this environment (a map) and is situated in the same simultaneously, using only information captured by the robot’s sensors and control signals known. Recently, driven by the advance of computing power, work in this area have proposed to use video camera as a sensor and it came so Visual SLAM. This has several approaches and the vast majority of them work basically extracting features of the environment, calculating the necessary correspondence and through these estimate the required parameters. In this work we propose a new approach of Direct decoupled SLAM, which uses methods of optimization and independent direct recording of images, making the system flexible enough to accept other more complex geometric forms. It was also possible to use several optimization methods in order to find the most appropriate one. Worrying about the high computational cost of this approach have been tested several types of optimization methods in order to find a good balance between good estimates and processing time. The results presented in this work show the success of this system in different environments.