True scaled 6 DoF egocentric localisation with monocular wearable systems

作者：

Highlights：

• We develop a method for scale estimation in monocular SLAM with wearable cameras.

• Frequency is computed from the unscaled estimate of the trajectory.

• Prior medical research on human gait allows to get walking speed from step frequency.

• Periodic update of scale factor in windows of frames grants scale drift removal.

摘要

•We develop a method for scale estimation in monocular SLAM with wearable cameras.•Frequency is computed from the unscaled estimate of the trajectory.•Prior medical research on human gait allows to get walking speed from step frequency.•Periodic update of scale factor in windows of frames grants scale drift removal.

论文关键词：Monocular SLAM,Wearable vision,Egocentric localisation

论文评审过程：Received 25 March 2015, Revised 15 March 2016, Accepted 27 May 2016, Available online 22 June 2016, Version of Record 9 July 2016.

论文官网地址：https://doi.org/10.1016/j.imavis.2016.05.015