RS-SLAM: RANSAC sampling for visual FastSLAM

In this paper, we present our RS-SLAM algorithm for monocular camera where the proposal distribution is derived from the 5-point RANSAC algorithm and image feature measurement uncertainties instead of using the easily violated constant velocity model. We propose to do another RANSAC sampling within all the inliers that have the best RANSAC score to check for inlier misclassifications in the original correspondences and use all the hypotheses generated from these consensus sets in the proposal distribution. This is to mitigate data association errors (inlier misclassifications) caused by the observation that the consensus set from RANSAC that yields the highest score might not, in practice, contain all the true inliers due to noise on the feature measurements. Hypotheses which are less probable will eventually be eliminated in the particle filter resampling process. We also show in this paper that our monocular approach can be easily extended for stereo camera. Experimental results validate the potential of our approach.