TY  - JOUR
T1  - A Linearly Optimization Method for Slam Estimation Based on Stereo Features
AU - H. Mahmoud, Mohamed AU - Hissen, Nashaat AU - Hemayed, Elsayed 
JO  - Agricultural Journal
VL  - 14
IS  - 5
SP  - 109
EP  - 117
PY  - 2019
DA  - 2001/08/19
SN  - 1816-9155
DO  - aj.2019.109.117
UR  - https://makhillpublications.co/view-article.php?doi=aj.2019.109.117
KW  - SLAM (Simultaneous Localization and Mapping)
KW  -robotic systems
KW  -stereo camera
KW  -tracking
KW  -loop
closure
AB  - Recently graph based SLAM has become a popular representation for solving SLAM problem but
it is affected by its inherent nonlinearity due to noisy measurements and reprojection errors which lead to
non-consistent map. The proposed system provides the entire robot trajectory at lower cost using stereo camera,
generates a globally consistent 3D map and provides linear graph optimization. We show that the validation
of our system based on stereo camera which utilizes a linear optimization method which provides only one
accurate solution in contrast to the well-known nonlinear global optimization like BA of ORB-SLAM which
provides multiple non-accurate solutions for optimization. Furthermore, our system runs in real time and is 3X
faster than the current state-of-the-art SLAM systems for stereo SLAM. Our system gives comparable accuracy
compared with the state of the art. We tested our system using KITTI data sets. We show that our system can
be an alternative to bundle adjustment approaches with a better accuracy, robustness and more efficient than
some well-known systems.
ER  -