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Local Accuracy and Global Consistency for Efficient Visual SLAM
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Local Accuracy and Global Consistency for Efficient Visual SLAM
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Imperial College London
Department of Computing
Local Accuracy and Global
Consistency for Efficient Visual SLAM
Hauke Strasdat
October 2012
Supervised by Dr. Andrew Davison
Submitted in part fulfilment of the requirements for the degree of PhD in
Computing and the Diploma of Imperial College London. This thesis is entirely
my own work, and, except where otherwise indicated, describes my own research.
To So-Rim Lee
Abstract
This thesis is concerned with the problem of Simultaneous Localisation and
Mapping (SLAM) using visual data only. Given the video stream of a moving
camera, we wish to estimate the structure of the environment and the motion
of the device most accurately and in real-time.
Two effective approaches were presented in the past. Filtering methods
marginalise out past poses and summarise the information gained over time
with a probability distribution. Keyframe methods rely on the optimisation
approach of bundle adjustment, but computationally must select only a small
number of past frames to process. We perform a rigorous comparison between
the two approaches for visual SLAM. Especially, we show that accuracy comes
from a large number of points, while the number of intermediate frames only
has a minor impact. We conclude that keyframe bundle adjustment is superior
to filtering due to a smaller computational cost.
Based on these experimental results, we develop an efficient framework for
large-scale visual SLAM using the keyframe strategy. We demonstrate that
SLAM using a single camera does not only drift in rotation and translation,
but also in scale. In particular, we perform large-scale loop closure correction
using a novel variant of pose-graph optimisation which also takes scale drift
into account. Starting from this two stage approach which tackles local mo-
tion estimation and loop closures separately, we develop a unified framework
for real-time visual SLAM. By employing a novel double window scheme, we
present a constant-time approach which enables the local accuracy of bundle
adjustment while ensuring global consistency. Furthermore, we suggest a new
scheme for local registration using metric loop closures and present several im-
provements for the visual front-end of SLAM. Our contributions are evaluated
exhaustively on a number of synthetic experiments and real-image data-set from
single cameras and range imaging devices.
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