Tomoyuki Shiozaki

2 accepted papers

2018

Eliminating Scale Drift in Monocular SLAM Using Depth From Defocus

RA-L 2018

This letter presents a novel approach to correct errors caused by accumulated scale drift in monocular SLAM. It is shown that the metric scale can be estimated using information gathered through monocular SLAM and image blur due to defocus. A nonlinear least squares optimization problem is formulate

Cited by 6 Source ↗Scholar ↗

2017

Monocular 3D metric scale reconstruction using depth from defocus and image velocity

Tomoyuki Shiozaki, Gamini Dissanayake

IROS 2017poster

This paper presents a novel approach to metric scale reconstruction of a three-dimensional (3D) scene using a monocular camera. Using a sequence of images from a monocular camera with a fixed focus lens, metric distance to a set of features in the environment is estimated from image blur due to defo…

Cited by 1 Source ↗Scholar ↗