REAL-TIME 3D MOTION ESTIMATION AND MAP BUILDING USING ENHANCED MULTICAMERA SYSTEM
Abstract
This work presents an enhanced multi-camera system for a 3D photo-realistic map building task. The
main contribution is the implementation of a new probabilistic approach for map building using FastSLAM 2.0 algorithm. The proposed algorithm is successfully implemented on the multi-camera system and is capable of real-time operation. Experiments within an indoor environment were conducted and the results show good improvement over the
conventional approach.