Temporally Scalable Visual SLAM using a Reduced Pose Graph

TitleTemporally Scalable Visual SLAM using a Reduced Pose Graph
Publication TypeConference Paper
Year of Publication2013
AuthorsJohnnsson H, Kaess M, Fallon MF, Leonard JJ
Conference NameIntl. Conf. on Robotics and Automation (ICRA)
Date PublishedMay 2013
Conference LocationKarlsruhe, Germany

In this paper, we demonstrate a system for temporally scalable visual SLAM using a reduced pose graph representation. Unlike previous visual SLAM approaches that maintain static keyframes, our approach uses new measurements to continually improve the map, yet achieves efficiency by avoiding adding redundant frames and not using marginalization to reduce the graph. To evaluate our approach, we present results using an online binocular visual SLAM system that uses place recognition for both robustness and multi-session operation. Additionally, to enable large-scale indoor mapping, our system automatically detects elevator rides based on accelerometer data. We demonstrate long-term mapping in a large multi-floor building, using approximately nine hours of data collected over the course of six months. Our results illustrate the capability of our visual SLAM system to map a large area over extended period of time.