SAMSLAM: Simulated annealing monocular SLAM

Fabio Bellavia, Fabio Bellavia, Marco Fanfani, Fabio Pazzaglia, Carlo Colombo

Risultato della ricerca: Conference contribution

4 Citazioni (Scopus)


This paper proposes a novel monocular SLAM approach. For a triplet of successive keyframes, the approach inteleaves the registration of the three 3D maps associated to each image pair in the triplet and the refinement of the corresponding poses, by progressively limiting the allowable reprojection error according to a simulated annealing scheme. This approach computes only local overlapping maps of almost constant size, thus avoiding problems of 3D map growth. It does not require global optimization, loop closure and back-correction of the poses
Lingua originaleEnglish
Titolo della pubblicazione ospiteComputer Analysis of Images and Patterns
Numero di pagine8
Stato di pubblicazionePublished - 2013

Serie di pubblicazioni


All Science Journal Classification (ASJC) codes

  • Theoretical Computer Science
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