期刊名称：Journal of Automation, Mobile Robotics & Intelligent Systems (JAMRIS)
印刷版ISSN：1897-8649
电子版ISSN：2080-2145
出版年度：2013
卷号：7
期号：1
页码：05
出版社：Industrial Research Inst. for Automation and Measurements, Warsaw
摘要：This paper presents the attempt to merge two paradigms of the visual robot navigation: Visual Simultaneous Localiza- tion and Mapping (VSLAM) and Visual Odometry (VO). The VSLAM was augmented with the direct, visual mea- surement 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 e.ciency of the 5-point and 8-point algorithms was compared. The augmented system was com- pared with the state of the art VSLAM solution and the proposed modification allowed to reduce the tracking error by over 30%.
