オンラインで証明可能な視覚オドメトリとマッピング
Online and Certifiably Correct Visual Odometry and Mapping
RGBDカメラのノイズ上限を利用し、誤差保証付きの視覚オドメトリと、障害物までの距離を安全側に過小評価する符号付き距離場マッピングを30FPSでオンライン実行する手法を提案。
著者: Devansh R Agrawal, Rajiv Govindjee, Jiangbo Yu, Anurekha Ravikumar, Dimitra Panagou
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
This paper proposes two new algorithms for certified perception in safety-critical robotic applications. The first is a Certified Visual Odometry algorithm, which uses a RGBD camera with bounded sensor noise to construct a visual odometry estimate with provable error bounds. The second is a Certified Mapping algorithm which, using the same RGBD images, constructs a Signed Distance Field of the obstacle environment, always safely underestimating the distance to the nearest obstacle. This is required to avoid errors due to VO drift. The algorithms are demonstrated in hardware experiments, where we demonstrate both running online at 30FPS. The methods are also compared to state-of-the-art techniques for odometry and mapping.
