Initialization of Monocular Visual Navigation for Autonomous Agents Using Modified Structure from Small Motion

• URL: http://arxiv.org/abs/2409.16465v2
• Date: Mon, 7 Oct 2024 19:17:15 GMT
• Title: Initialization of Monocular Visual Navigation for Autonomous Agents Using Modified Structure from Small Motion
• Authors: Juan-Diego Florez, Mehregan Dor, Panagiotis Tsiotras,
• Abstract summary: We propose a standalone monocular visual Simultaneous Localization and Mapping (vSLAM) pipeline for autonomous space robots. Our method, a state-of-the-art factor graph optimization pipeline, extends Structure from Small Motion to robustly initialize a monocular agent in spacecraft inspection trajectories. We validate our approach on realistic, simulated satellite inspection image sequences with a tumbling spacecraft and demonstrate the method's effectiveness.
• Score: 13.69678622755871
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: We propose a standalone monocular visual Simultaneous Localization and Mapping (vSLAM) initialization pipeline for autonomous space robots. Our method, a state-of-the-art factor graph optimization pipeline, extends Structure from Small Motion (SfSM) to robustly initialize a monocular agent in spacecraft inspection trajectories, addressing visual estimation challenges such as weak-perspective projection and center-pointing motion, which exacerbates the bas-relief ambiguity, dominant planar geometry, which causes motion estimation degeneracies in classical Structure from Motion, and dynamic illumination conditions, which reduce the survivability of visual information. We validate our approach on realistic, simulated satellite inspection image sequences with a tumbling spacecraft and demonstrate the method's effectiveness over existing monocular initialization procedures.

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