2P1-G13 MonoSLAM in indoor enviroment by wide-angle Camera

Abstract

This paper describes 3D environment modeling and camera pose estimation system by using a single camera. Because a wide angle camera provides a wide field of view at once, it enables the system to acquire reconstruction results stably. Moreover, a camera which has advantages of small size and light weight, is easily considered to apply the system to a portable sensor. We constructed environment modeling and camera pose estimation system by means of SFM approach (8 point algorithm, bundle adjustment and motion stereo). Graph slam is also adapted to smooth the reconstruction results. Experiments were performed in indoor environment, we comfirmed the capability of the reconstruction ability of a wide angle camera.