Visual SLAM (part III)

Visualization of correcting a robot's odometric position with visual information. The robot (blue triangular shape) observes objects with a camera (upper right). These observed objects will be used as landmarks and are put in a map. When the robot observes a landmark for the second time, it corrects its own position relative to the observed landmark postion; 'loop closure'. The blue arrow is the 'odometric' robot position (where the robot 'thinks' it is). The red arrow is the 'corrected' robot position. The ellipses represent the uncertainties of the positions of the landmarks. The smaller the ellipse, the more certain the robot is about the position of the landmark. The robot (or actually the corrected position) has its own uncertainty ellipse. This ellipse grows during driving. When the robot observes a previously seen landmark, both the uncertainties of the landmark and the robot are adapted. The small black dots represent the trail of corrected positions.



http://www.youtube.com/watch?v=yezbxKXajwk&hl=en

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