Localization and mapping for autonomous navigation in outdoor terrains: A stereo vision approach

Proceedings - IEEE Workshop on Applications of Computer Vision, WACV 2007

Volumn , Issue , 2007, Pages 7-

  Agrawal, Motilal ^a   Konolige, Kurt ^a   Bolles, Robert C ^a  

^a SRI INTERNATIONAL   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER VISION; MAPS; PROBLEM SOLVING; ROBOTS; SENSORS;

AUTONOMOUS NAVIGATION; OUTDOOR ROBOT; VISUAL ODOMETRY;

NAVIGATION SYSTEMS;

EID: 34547186492     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/WACV.2007.40     Document Type: Conference Paper

References (16)

1. M. Agrawal and K. Konolige. Real-time localization in outdoor environments using stereo vision and inexpensive gps. In Proceedings International Conference on Pattern Recognition (ICPR), 2006.
2. M. Agrawal, K. Konolige, and L. Iocchi. Real-time detection of independent motion using stereo. In IEEE workshop on Motion, 2005.
3. P. Bellutta, R. Manduchi, L. Matthies, K. Owens, and A. Rankin. Terrain perception for DEMO III. In Proc. of the IEEE Intelligent Vehicles Symp., 2000.
4. M. Fischler and R. Bolles. Random sample consensus: a paradigm for model fitting with application to image analysis and automated cartography. Commun. ACM., 24:381-395, 1981.
5. J. Guivant, E. Nebot, and S. Baiker. High accuracy navigation using laser range sensors in outdoor applications. In ICRA, 2000.
6. J. S. Gutmann and K. Konolige. Incremental mapping of large cyclic environments. In CIRA, 1999.
7. K. Iagnemma, F. Genot, and S. Dubowsky. Rapid physicsbased rough-terrain rover planning with sensor and control uncertainty. In ICRA, 1999.
8. K. Konolige. Small vision systems: hardware and implementation. In Intl. Symp. on Robotics Research, pages 111-116, 1997.
9. J. J. Leonard and P. Newman. Consistent, convergent, and constant-time slam. In IJCAI, 2003.
10. D. G. Lowe. Distinctive image features from scale-invariant keypoints. Intl. J. of Computer Vision, 60(2):91-110, 2004.
11. M. Montemerlo and S. Thrun. Large-scale robotic 3-d mapping of urban structures. In ISER, 2004.
12. H. Moravec and A. Elfes. High resolution maps for wide angles sonar. In ICRA, 1985.
13. D. Nister, O. Naroditsky, and J. Bergen. Visual odometry. In CVPR, 2004.
14. C. F. Olson, L. H. Matthies, M. Schoppers, and M. W. Maimone. Robust stereo ego-motion for long distance navigation. In CVPR, 2000.
15. A. Rankin, A. Huertas, and L. Matthies. Evaluation of stereo vision obstacle detection algorithms for off-road autonomous navigation. In AUVSI Symp. on Unmanned Systems, 2005.
16. D. J. Spero and R. A. Jarvis. 3D vision for large-scale outdoor environments. In Proc. of the Australasian Conf. on Robotics and Automation (ACRA), 2002.