Probabilistic structure matching for visual SLAM with a multi-camera rig

Computer Vision and Image Understanding

Volumn 114, Issue 2, 2010, Pages 286-296

  Kaess, Michael ^a   Dellaert, Frank ^b  

^a MASSACHUSETTS INSTITUTE OF TECHNOLOGY   (United States)

^b Georgia Institute of Technology   (United States)

Author keywords

Localization; Mapping; Mobile robot; Multi camera rig; Omni directional; SFM

Indexed keywords

A-DENSITY; DATA ASSOCIATION; DATA ASSOCIATION PROBLEM; EXPECTATION-MAXIMIZATION ALGORITHMS; LOCALIZATION; MOBILE ROBOT PLATFORMS; MULTI-CAMERA RIG; MULTI-CAMERA RIGS; OMNI-DIRECTIONAL; OMNI-DIRECTIONAL SENSORS; OPTIMAL PARAMETER; OPTIMIZATION PROBLEMS; PROBABILISTIC APPROACHES; PROBABILISTIC STRUCTURES; ROBOT MOTION; SAMPLING RESULTS; SENSOR PLACEMENT; SIMULATED DATA; SIMULTANEOUS LOCALIZATION AND MAPPING; VIRTUAL MEASUREMENTS; VISUAL SLAM;

COMBINATORIAL MATHEMATICS; MAPPING; MOBILE ROBOTS; OPTIMIZATION; SENSORS; VIDEO CAMERAS;

CAMERAS;

EID: 74449087423     PISSN: 10773142     EISSN: 1090235X     Source Type: Journal    
DOI: 10.1016/j.cviu.2009.07.006     Document Type: Article

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