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On augmenting the visual slam with direct orientation measurement using the 5-point algorithm

Schmidt A., Kraft A., Fularz M., Domagała Z.

Journal of Automation Mobile Robotics and Intelligent Systems

2013

Vol. 7, No. 1

5--10

This paper presents the attempt to merge two paradigms of the visual robot navigation: Visual Simultaneous Localization and Mapping (VSLAM) and Visual Odometry (VO). The VSLAM was augmented with the direct, visual measurement of the robot orientation change using the 5-point algorithm. The extended movement model of the robot was proposed and additional measurements were introduced to the SLAM system. The efficiency of the 5-point and 8-point algorithms was compared. The augmented system was compared with the state of the art VSLAM solution and the proposed modification allowed to reduce the tracking error by over 30%.