영상기반 자동항법을 위한 실시간 위치인식 및 지도작성

초록

In this paper, we propose monocular visual simultaneous localization and mapping (SLAM) in the largescale environment. The proposed method continuously computes the current 6-DoF camera pose and 3D landmarks position from video input. The proposed method successfully builds consistent maps from challenging outdoor sequences using a monocular camera as the only sensor. By using a binary descriptor and metric-topological mapping, the system demonstrates real-time performance on a large-scale outdoor dataset without utilizing GPUs or reducing input image size. The effectiveness of the proposed method is demonstrated on various challenging video sequences.

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