Efficient view-based SLAM using visual loop closures

IEEE Transactions on Robotics

Volumn 24, Issue 5, 2008, Pages 1002-1014

  Mahon, Ian ^a   Williams, Stefan B ^a   Pizarro, Oscar ^a   Johnson Roberson, Matthew ^a  

^a UNIVERSITY OF SYDNEY   (Australia)

Author keywords

Autonomous underwater vehicle (AUV) navigation; Cholesky factorization; Extended information filter (EIF); Simultaneous localization and mapping (SLAM)

Indexed keywords

AUTONOMOUS UNDERWATER VEHICLES; CONFORMAL MAPPING; FACTORIZATION; NAVIGATION; REMOTELY OPERATED VEHICLES; SUBMERSIBLE MOTORS; SUBMERSIBLES; UNDERWATER BALLISTICS; UNDERWATER CONSTRUCTION; UNDERWATER EQUIPMENT; UNDERWATER STRUCTURES; VISUAL COMMUNICATION; WATER CRAFT; WAVE FILTERS;

CHOLESKY FACTORIZATION; CHOLESKY FACTORIZATIONS; DEAD RECKONING SENSORS; ESTIMATION PROCESSES; EXTENDED INFORMATION FILTER (EIF); EXTENDED INFORMATION FILTERS; INFORMATION MATRIXES; LOOP CLOSURES; SIMULTANEOUS LOCALIZATION AND MAPPING (SLAM); SIMULTANEOUS LOCALIZATION AND MAPPING ALGORITHMS; VEHICLE TRAJECTORIES; VISUAL NAVIGATIONS;

STEREO VISION;

EID: 56049112983     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2008.2004888     Document Type: Article

References (35)

1. R. Smith, M. Self, and P. Cheeseman, "Estimating uncertain spatial relationships in robotics," Auton. Robot Veh., vol. 8, pp. 167-193, 1990.
2. J. J. Leonard, H. F. Durrant-Whyte, and I. J. Cox, "Dynamic map building for an autonomous mobile robot," Int. J. Robot. Res., vol. 11, no. 4, pp. 286-298, 1992.
3. M. W. M. G. Dissanayake, P. Newman, S. Clark, H. F. Durrant-Whyte, and M. Csobra, "A solution to the simultaneous localization and map building (SLAM) problem," IEEE Trans. Robot. Autom., vol. 17, no. 3, pp. 229-241, Jun. 2001.
4. J.Guivant and E. M. Nebot, "Optimization of the simultaneous localization and map-building algorithm for real-time implementation," IEEE Trans. Robot. Autom., vol. 17, no. 3, pp. 242-257, Jun. 2001.
5. S. B. Williams, "Efficient solutions to autonomous mapping and navigation problem," Ph.D. dissertation, Aust. Centre Field Robot., Univ. Sydney, Sydney, Australia, 2001.
6. J. D. Tardós, J. Neira, P. M. Newman, and J. J. Leonard, "Robust mapping and localization in indoor environments using sonar data," Int. J. Robot. Res., vol. 21, no. 4, pp. 311-330, 2002.
7. M. Bosse, P. Newman, J. Leonard, M. Soika, W. Feiten, and S. Teller, "An atlas framework for scalable mapping," in Proc. IEEE Int. Conf. Robot. Autom., 2003, vol. 2, pp. 1899-1906.
8. S. Thrun, Y. Liu, D. Koller, A. Y. Ng, and H. Durrant-Whyte, "Simultaneous localization and mapping with sparse extended information filters," Int. J. Robot. Res., vol. 23, no. 7-8, pp. 693-716, 2004.
9. R.M. Eustice, "Large-area visually augmented navigation for autonomous underwater vehicles," Ph.D. dissertation, Massachusetts Inst. Technol. Woods Hole Oceanogr. Inst., Wood's Hole, MA, 2005.
10. R. M. Eustice, H. Singh, and J. J. Leonard, "Exactly sparse delayed-state filters for view-based SLAM," IEEE Trans. Robot., vol. 22, no. 6, pp. 1100-1114, Dec. 2006.
11. R. M. Eustice, H. Singh, J. J. Leonard, and M. R. Walter, "Visually mapping the RMS Titanic: Conservative covariance estimates for SLAM information filters," Int. J. Robot. Res., vol. 25, no. 12, pp. 1223-1242, 2006.
12. F. Dellaert, "Square root SAM," in Proc. Robot.: Sci. Syst., Cambridge, MA, Jun. 2005, pp. 177-184.
13. F. Dellaert and M. Kaess, "Square root SAM: Simultaneous localization and mapping via square root information smoothing," Int. J. Robot. Res., vol. 25, no. 12, pp. 1181-1203, 2006.
14. Y. Chen, T. A. Davis, W. W. Hager, and S. Rajamanickam, "Algorithm 8xx: Cholmod, supernodal sparse cholesky factorization and update/downdate," Dept. Comput. Inf. Sci. Eng., Univ. Florida, Gainesville, FL, Tech. Rep. TR-2006-005, 2006.
15. M. Kaess, A. Ranganathan, and F. Dellaert, "iSAM: Fast incremental smoothing and mapping with efficient data association," in Proc. IEEE Int. Conf. Robot. Autom., 2007, pp. 1670-1677.
16. M. Kaess, A. Ranganathan, and F. Dellaert, "Fast incremental square root information smoothing," in Proc. Int. Joint Conf. Artif. Intell., 2007, pp. 2129-2134.
17. R. Eustice, O. Pizarro, and H. Singh, "Visually augmented navigation in an unstructured environment using a delayed state history," in Proc. IEEE Int. Conf. Robot. Autom., 2004, vol. 1, pp. 25-32.
18. D. G. Lowe, "Distinctive image features from scale-invariant keypoints," Int. J. Comput. Vis., vol. 60, no. 2, pp. 91-110, 2004.
19. J. Matas, O. Chum, M. Urban, and T. Pajdla, "Robust wide baseline stereo from maximally stable extremal regions," in Proc. Br. Mach. Vis. Conf., vol. 1, Cardiff, U.K.: British Machine Vision Assoc., 2002, pp. 384-392.
20. H. Bay, T. Tuytelaars, and L. V. Gool, "SURF: Speeded up robust features," in Proc. 9th Eur. Conf. Comput. Vis., vol. 13, Graz, Austria: Springer, May 2006, pp. 404-417.
21. T. Kadir, A. Zisserman, and M. Brady, "An affine invariant salient region detector," in Proc. Eur. Conf. Comput. Vis., 2004, pp. 404-416.
22. K. Mikolajczk and C. Schmid, "A performance evaluation of local descriptors," in Proc. IEEE Conf. Comput. Vis. Pattern Recognit., 2003, vol. 2, pp. 257-263.
23. K. Mikolajczyk, T. Tuytelaars, C. Schmid, A. Zisserman, J. Matas, F. Schaffalitzky, T. Kadir, and L. V. Gool, "A comparison of affine region detectors," Int. J. Comput. Vis., vol. 65, no. 1-2, pp. 43-72, 2005.
24. T. A. Davis, Direct Methods for Sparse Linear Systems. Philadelphia, PA: SIAM, 2006.
25. S. Ingram. (2006). Minimum degree reordering algorithms: A tutorial 2006, [Online]. Available: http://www.cs.ubc.ca/~sfingram/ cs517_final.pdf
26. T. A. Davis and W. W. Hager, "Modifying a sparse Cholesky factorization," SIAM J. Matrix Anal. Appl., vol. 20, no. 3, pp. 606-627, 1999.
27. T. A. Davis and W. W. Hager, "Row modifications of a sparse Cholesky factorization," SIAM J. Matrix Anal. Appl., vol. 26, no. 3, pp. 621-639, 2005.
28. H. Niessner and K. Reichert, "On computing the inverse of a sparse matrix," Int. J. Num. Methods Eng., vol. 19, no. 10, pp. 1513-1526, 1983.
29. A. M. Erisman and W. F. Tinney, "On computing certain elements of the inverse of a sparse matrix," Commun. ACM, vol. 18, no. 3, pp. 177-179, 1975.
30. B. Triggs, P. McLauchlan, R. Hartley, and A. Fitzgibbon, "Bundle adjustment - modern synthesis," in Vision Algorithms: Theory and Practice. Lecture Notes in Computer Science. Berlin, Germany: Springer-Verlag, 2000, pp. 298-375.
31. H. Singh, A. Can, R. Eustice, S. Lerner, N. McPhee, O. Pizarro, and C. Roman, "Seabed AUV offers new platform for high-resolution imaging," in EOS Trans. Amer. Geophys. Union, vol. 85, no. 31, pp. 289-294-295, Nov. 2004.
32. I. Mahon, "Vision-based navigation for autonomous underwater vehicles," Ph.D. dissertation, Aust. Centre Field Robot., Univ. Sydney, Sydney, Australia, 2008.
33. R. I. Hartley and A. Zisserman, Multiple View Geometry in Computer Vision. Cambridge, U.K.: Cambridge Univ. Press, 2000.
34. P. J. Huber, Robust Statistics. New York: Wiley, 1981.
35. R. A. Maronna, R. D. Martin, and V. J. Yohai, Robust Statistics. Berlin, Germany: Springer-Verlag, 2006.