SPM-SLAM: Simultaneous localization and mapping with squared planar markers

作者：

Highlights：

• First system for Simultaneous Localization and Mapping in large environments from Squared Planar Markers.

• Print markers with a regular printer and place them in environment. Use a camera an our system finds the camera position while estimating the pose of the markers at the same time.

• Real time operation on CPUs (150 Hz) with a single execution thread.

摘要

•First system for Simultaneous Localization and Mapping in large environments from Squared Planar Markers.•Print markers with a regular printer and place them in environment. Use a camera an our system finds the camera position while estimating the pose of the markers at the same time.•Real time operation on CPUs (150 Hz) with a single execution thread.

论文关键词：Fiducial markers,Marker mapping,SLAM

论文评审过程：Received 5 January 2018, Revised 31 July 2018, Accepted 5 September 2018, Available online 13 September 2018, Version of Record 19 September 2018.

论文官网地址：https://doi.org/10.1016/j.patcog.2018.09.003