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Visual SLAM

Visual SLAM using a RGB-D Sensor


- Research Background

Visual SLAM using RGB-D sensor has many advantages over ceiling SLAM using mono camera.

There are many useful features in indoor environment (corner, line, plane, etc.).

Various features can be used as landmarks for visual SLAM.

- Research Objectives

Various feature extraction using a RGB-D sensor as landmarks of visual SLAM.

Robust visual SLAM in various indoor environments.

Accumulated error correction using loop closure.

Implemented and optimized for embedded system.


- Research Output

Keyframe based Visual Odometry.

Loop closure using pose graph.

Visual SLAM in indoor environment


* Forward-looking RGB-D sensor based SLAM