Visual loop closing using multi-resolution sift grids in metric-topological SLAM

2009 IEEE Conference on Computer Vision and Pattern Recognition, CVPR 2009

Volumn , Issue , 2009, Pages 1438-1445

  Pradeep, Vivek ^a   Medioni, Gerard ^a   Weiland, James ^a  

^a UNIVERSITY OF SOUTHERN CALIFORNIA   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER VISION; DEGREES OF FREEDOM (MECHANICS); GRAPHIC METHODS; INDOOR POSITIONING SYSTEMS; STEREO VISION; THREE DIMENSIONAL COMPUTER GRAPHICS; TOPOLOGY;

3D RECONSTRUCTION; LAYERED APPROACHES; OFF-LINE TRAINING; OUTDOOR EXPERIMENT; PARTICLE FILTERING; SCENE INTERPRETATION; SIMULTANEOUS LOCALIZATION AND MAPPING; SPARSE BUNDLE ADJUSTMENTS;

STEREO IMAGE PROCESSING;

EID: 70450196799     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/CVPRW.2009.5206769     Document Type: Conference Paper

References (25)

1. J. S. Beis and D. G. Lowe. Shape indexing using approximate nearest-neighbour search in high-dimensional spaces. CVPR, pages 1000-1006, 1997.
2. J. L. Blanco, J. Gonzalez, and J. A. Fernandez-Madrigal. Consistent Observation Grouping for Generating Metric- Topological Maps that Improves Robot Localization. ICRA, pages 818-823, 2006.
3. J.-L. Blanco, J.-A. F. Madrigal, and J. Gonzalez. Toward a Unified Bayesian Approach to Hybrid Metric-Topological SLAM. IEEE Trans. on Robotics, 2008.
4. L. A. Clemente, A. J. Davison, I. D. Reid, J. Neira, and J. D. Tardos. Mapping Large Loops with a Single Hand-held Camera. Robotics:Science and Systems, 2007.
5. M. Cummins and P. Newman. Probabilistic Appearance Based Navigation and Loop Closing. ICRA, pages 2042- 2048, 2007.
6. A. J. Davison, I. D. Reid, N. D. Molton, and O. Stasse. Monoslam:Real-time single camera SLAM. IEEE PAMI, 29(6):1052-1067, 2007.
7. C. Estrada, J. Neira, and J. D. Tardos. Hierarchial SLAM: Real-Time Accurate Mapping of Large Environments. IEEE Trans. on Robotics, 21(4):588-596, 2005.
8. R. I. Hartley and A. Zisserman. Multiple View Geometry in Computer Vision. Cambridge University Press.
9. G. Klein and D. W. Murray. Improving the Agility of Keyframe-Based SLAM. ECCV, pages 802-815, 2008.
10. J. J. Leonard and H. F. Durrant-Whyte. Simultaneous map building and localization for an autonomous mobile robot. IROS, 3:1442-1447, 1991.
11. M. Lourakis and A. Argyros. The design and implementation of a generic sparse bundle adjustment software package based on the Levenberg-Marquardt algorithm. Institute of Computer Science - FORTH, Heraklion, Crete, Greece.
12. D. Lowe. Object recognition from local scale-invariant features. ICCV, pages 1150-1157, 1999.
13. B. D. Lucas and T. Kanade. An Iterative Image Registration Technique with an Application to Stereo Vision. IJCAI, pages 674-679, 1981.
14. L. Matthies and S. Shafer. Error modeling in stereo navigation. IEEE JRA, 3(3):239-248, 1987.
15. M. Montemerlo, S. Thrun, D. Koller, and B.Weigbreit. Fast- SLAM 2.0: An improved particle filtering algorithm for simultaneous localization and mapping that provably converges. IJCAI, pages 1151-1156, 2003.
16. K. Murphy. Bayesian map learning in dynamic environments. NIPS, pages 1015-1021, 1999.
17. P. Newman, D. Cole, and K. Ho. Outdoor SLAM using Visual Appearance and Laser Ranging. ICRA, pages 1180- 1187, 2006. (Pubitemid 44940232)
18. D. Nister. Preemptive RANSAC for Live Structure and Motion Estimation. ICCV, 1:199-206, 2003.
19. D. Nister, O. Naroditsky, and J. Bergen. Visual Odometry for Ground Vehicle Applications. J. Field Robotics, 23(1), 2006.
20. M. Pollefeys, D. Nister, et al. Detailed Real-Time Urban 3D Reconstruction from Video. IJCV, 2007.
21. R. Sim, P. Elinas, and J. J. Little. A study of Rao- Blackwellised Particle Filter for Efficient and Accurate Vision-Based SLAM. IJCV, 74(3):303-318, 2007.
22. R. C. Smith, M. Self, and P. Cheeseman. On the Representation and Estimation of Spatial Uncertainty. Proc. of the Annual Conf. on Uncertainty in AI, pages 435-461, 1986.
23. N. Sunderhauf and P. Protzel. Towards Using Sparse Bundle Adjustment for Robust Stereo Odometry in Outdoor Terrain. TAROS06, pages 206-213, 2006.
24. P. Zhang, J. Gu, and E. E. Milios. Registration uncertainty for robot self-localization in 3D. The second Canadian Conf. on Computer and Robot Vision, pages 490-497, 2005.
25. Z. Zivkovic, B. Bakker, and B. Krose. Hierarchial Map Building using Visual Landmarks and Geometric Constraints. IROS, pages 2480-2485, 2005.