Radar SLAM using visual features

Radar SLAM using visual features

A vessel navigating in a critical environment such as an archipelago requires very accurate movement estimates. Intentional or unintentional jamming makes GPS unreliable as the only source of information and an additional independent supporting navigation system should be used. In this paper, we suggest estimating the vessel movements using a sequence of radar images from the preexisting body-f...

Planar Features for Visual SLAM

Among the recent trends in real-time visual SLAM, there has been a move towards the construction of structure-rich maps. By using landmarks more descriptive than point features, such as line or surface segments, larger parts of the scene can be represented in a compact form. This minimises redundancy and might allow applications such as object detection and path planning. In this paper, we prop...

Strucure and Motion Recovery Using Visual Slam

A lot of applications in the domain of computer vision require recovering structure and motion from a set of 2D images. In order to ease this process, an ongoing effort is to create a structure from motion (SFM) library 1 . This library would package together, feature extraction and tracking algorithms like SIFT and KLT; structure from motion modules like factorization and bundle adjustment, th...

Radar Scan Matching SLAM Using the Fourier-Mellin Transform

This paper is concerned with the Simultaneous Localization And Mapping (SLAM) problem using data obtained from a microwave radar sensor. The radar scanner is based on Frequency Modulated Continuous Wave (FMCW) technology. In order to meet the needs of radar image analysis complexity, a trajectoryoriented EKF-SLAM technique using data from a 360◦ field of view radar sensor has been developed. Th...

The case for visual-inertial SLAM over visual SLAM