Toward multi-stage decoupled visual SLAM system

Mohamed H. Merzban, Mohamed Abdellatif, Hossam Abbas, Salvatore Sessa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)


SLAM is defined as simultaneous estimation of mobile robot pose and structure of the surrounding environment Currently, there is a much interest in Visual SLAM, SLAM with a camera as main sensor, because the camera is an ubiquitous and affordable sensor. Camera measurements formed by perspective projection is highly nonlinear with respect to estimated states, leading to complicated nonlinear estimation problem. In this paper, a novel system is proposed that divides the problem into two parts: local and global motion estimation. This division leads to a simple linear estimation system. In the first stage, local motion parameters (acceleration, velocity, angular acceleration and orientation) are estimated in robot local frame. Robot position and the scene map are then estimated in the second stage in global frame as global motion parameters. Map is updated at each camera frame and is represented in a relative way to decouple robot pose from map structure estimation. The new system simplified the map correction to a linear optimization problem. Simulation results showed that the proposed system converges and yields accurate results.

Original languageEnglish
Title of host publicationROSE 2013 - 2013 IEEE International Symposium on Robotic and Sensors Environments, Proceedings
Number of pages6
Publication statusPublished - 2013
Externally publishedYes
Event2013 11th IEEE International Symposium on Robotic and Sensors Environments, ROSE 2013 - Washington, DC
Duration: 2013 Oct 212013 Oct 23


Other2013 11th IEEE International Symposium on Robotic and Sensors Environments, ROSE 2013
CityWashington, DC


  • Graph Theory
  • Inertial Sensors
  • Relative Map
  • Robot Localization
  • Sensor Fusion
  • Visual SLAM

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Electrical and Electronic Engineering


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