Projects for the topic Perception

Current projects

Visual navigation algorithms pose many difficult challenges which must be overcome in order to achieve mass deployment. State-of-the-art methods are susceptible to error when measurements are noisy or corrupted, and prone to failure when the camera undergoes degenerate motions.

This project brings together several novel components to help solve the problem of multi-camera SLAM with non-overlapping fields of view to generate relative pose estimation data. This includes the Multi-Camera Parallel Tracking and Mapping (MCPTAM) algorithm, as well as novel approaches to dealing with scale recovery and reducing degenerate motions for multi-camera SLAM.