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N2L 3G1
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Michael John Tribou
Scale Recovery in Multicamera Cluster SLAM with Non-overlapping Fields of View
Wang, David W. and Waslander, Steve (Mechanical Engineering)
The solution to the Simultaneous Localization and Mapping (SLAM) problem using calibrated multicamera clusters is studied. Under general motion conditions, the system is able to accurately track up-to-date relative motion, including scale, between the camera cluster and the (free-moving) completely unknown target object or environment using only image measurements from the set of perspective cameras. The cameras within the cluster may be arranged in any configuration, including those where there is no spatial overlap in their fields-of-view and traditional stereo vision techniques cannot be used to determine scale. A degeneracy analysis for a cluster composed of two cameras with non-overlapping fields-of-view is presented identifying the set of relative motions of the cluster and target leading to degenerate solutions of the nonlinear least-squares SLAM optimization.
University of Waterloo
200 University Ave W, Waterloo, ON
N2L 3G1
Phone: (519) 888-4567
Staff and Faculty Directory
Contact the Department of Electrical and Computer Engineering
The University of Waterloo acknowledges that much of our work takes place on the traditional territory of the Neutral, Anishinaabeg and Haudenosaunee peoples. Our main campus is situated on the Haldimand Tract, the land promised to the Six Nations that includes six miles on each side of the Grand River. Our active work toward reconciliation takes place across our campuses through research, learning, teaching, and community building, and is centralized within our Indigenous Initiatives Office.