Scientific journal

ISSN 1814-2400

INFORMATION SCIENCE AND CONTROL SYSTEMS

Bobkov V. A., May V. P.

ON ENHANCEMENT THE SOLUTION EFFICIENCY OF THE 3D SLAM PROBLEM ON STEREO IMAGES

An adaptive method of visual odometry with a long tracking of features on images is proposed. A multi-stage data filtering scheme has been implemented in the task of calculating the trajectory of an autonomous robot and constructing a 3D model of the medium using stereo images. Computational experiments on model scenes were carried out using an simulator.

Keywords: 3D SLAM, autonomous robot, stereo images, features matching, adaptive method, filtration, triangulation