Bag-of-words-driven, single-camera simultaneous localization and mapping

Journal of Field Robotics

Volumn 28, Issue 2, 2011, Pages 204-226

  Botterill, Tom ^a   Mills, Steven ^b   Green, Richard ^a  

^a UNIVERSITY OF CANTERBURY   (New Zealand)

^b Areograph Ltd   (New Zealand)

Author keywords

[No Author keywords available]

Indexed keywords

BAG OF WORDS; DUAL GRAPHS; GRAPH-BASED REPRESENTATIONS; GROSS ERRORS; GROSS OUTLIERS; IMAGE REPRESENTATIONS; MODELING AND OPTIMIZATION; MONOCULAR VISION; OUTDOOR ENVIRONMENT; POSITION ESTIMATES; REAL TIME; SELF-SIMILAR; SENSOR INPUTS; SIMULTANEOUS LOCALIZATION AND MAPPING; SINGLE CAMERAS; UNKNOWN ENVIRONMENTS;

CAMERAS; ERRORS; MATHEMATICAL TECHNIQUES; NAVIGATION;

MAPPING;

EID: 79951527146     PISSN: 15564959     EISSN: 15564967     Source Type: Journal    
DOI: 10.1002/rob.20368     Document Type: Article

References (57)

1. Althöfer, I., Das, G., Dobkin, D., Joseph, D., &, Soares, J., (1993). On sparse spanners of weighted graphs. Journal of Discrete and Computational Geometry, 9 (1), 81-100.
2. Angeli, A., Filliat, D., Doncieux, S., &, Meyer, J.-A., (2008a, May). Real-time visual loop-closure detection. In Proceedings of the International Conference on Robotics and Automation, Pasadena, CA.
3. Angeli, A., Filliat, D., Doncieux, S., &, Meyer, J.-A., (2008b). A fast and incremental method for loop-closure detection using bags of visual words. IEEE Transactions on Robotics, Special issue on Visual SLAM, 1-11.
4. Balakrishnan, V. K., (1997). Schaum's outline of theory and problems of graph theory. Columbus, OH: McGraw-Hill.
5. Bay, H., Ess, A., Tuytelaars, T., &, Gool, L. V., (2008). Speeded-up robust features (SURF). Computer Vision and Image Understanding, 110, 346-359.
6. Beis, J. S., &, Lowe, D. G., (1999). Indexing without invariants in 3D object recognition. IEEE Transactions on Pattern Analysis and Machine Intelligence, 21 (10), 1000-1015.
7. Bosse, M., Newman, P., Leonard, J., &, Teller, S., (2004). Simultaneous localization and map building in large-scale cyclic environments using the Atlas framework. International Journal of Robotics Research, 23, 1113-1139.
8. Botterill, T., Green, R., &, Mills, S., (2009, November). A bag-of-words speedometer for single camera SLAM. In Proceedings of Image and Vision Computing, Wellington, New Zealand (pp. 1-6).
9. Botterill, T., Mills, S., &, Green, R., (2008, November). Speeded-up bag-of-words algorithm for robot localisation through scene recognition. In Proceedings of Image and Vision Computing, Lincoln, New Zealand (pp. 1-6).
10. Botterill, T., Mills, S., &, Green, R., (2009, September). New conditional sampling strategies for speeded-up RANSAC. In Proceedings of the British Machine Vision Conference, London.
11. Clemente, L. A., Davison, A. J., Reid, I., Neira, J., &, Tardos, J. D., (2007, June). Mapping large loops with a single hand-held camera. In Proceedings of Robotics: Science andSystems, Atlanta, GA.
12. Croarkin, C., &, Tobias, P., (2010). NIST/SEMATECHe-Handbook of statistical methods. Retrieved March 1, 2010, from.
13. Csurka, G., Dance, C. R., Fan, L., Willamowski, J., &, Bray, C., (2004, May). Visual categorization with bags of keypoints. In Proceedings of the ECCV International Workshop on Statistical Learning in Computer Vision, Prague, Czech Republic.
14. Cummins, M., &, Newman, P., (2008a, May). Accelerated appearance-only SLAM. In Proceedings of the International Conference on Robotics and Automation, Pasadena, CA (pp. 1828-1833).
15. Cummins, M., &, Newman, P., (2008b). FAB-MAP: Probabilistic localization and mapping in the space of appearance. International Journal of Robotics Research, 27 (6), 647-665.
16. Cummins, M., &, Newman, P., (2009, June). Highly scalable appearance-only SLAM - FAB-MAP 2.0. In Proceedings of Robotics: Science and Systems, Seattle, WA.
17. Davison, A., (2003, October). Real-time simultaneous localisation and mapping with a single camera. In Proceedings of the IEEE International Conference on Computer Vision, Nice, France.
18. Dellaert, F., &, Kaess, M., (2006). Square root SAM: Simultaneous localization and mapping via square root information smoothing. International Journal of Robotics Research, 25, 1181-1203. (Pubitemid 44745891)
19. Dissanayake, G., Durrant-Whyte, H., &, Bailey, T., (2000, April). A computationally efficient solution to the simultaneous localisation and map building (SLAM) problem. In Proceedings of the International Conference on Robotics and Automation, San Francisco, CA (vol. 2, pp. 1009-1014).
20. Eade, E., (2008). Monocular simultaneous localisation and mapping. Ph.D. thesis, University of Cambridge.
21. Eade, E., &, Drummond, T., (2006, June). Scalable monocular SLAM. In Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, Los Alamitos, CA (vol. 1, pp. 469-476). IEEE ComputerSociety. (Pubitemid 44931365)
22. Eade, E., &, Drummond, T., (2007, October). Monocular SLAM as a graph of coalesced observations. In Proceedings of the IEEE International Conference on Computer Vision, Rio de Janeiro, Brazil.
23. Eade, E., &, Drummond, T., (2008). Unified loop closing and recovery for real time monocular SLAM. In Proceedings of the British Machine Vision Conference, Leeds, UK.
24. Estrada, C., Neira, J., &, Tards, J. D., (2005). Hierarchical SLAM: Realtime accurate mapping of large environments. IEEE Transactions on Robotics, 21, 588-596. (Pubitemid 41226889)
25. Filliat, D., (2007, April). A visual bag of words method for interactive qualitative localization and mapping. In Proceedings of the International Conference on Robotics and Automation, Rome, Italy.
26. Fischler, M. A., &, Bolles, R. C., (1981). Random sample consensus: A paradigm for model fitting with applications to image analysis and automated cartography. Communications of the ACM, 24 (6), 381-395.
27. Fraundorfer, F., Stewénius, H., &, Nistér, D., (2007, June). A binning scheme for fast hard drive based image search. In Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, Minneapolis, MN.
28. Frese, U., Larsson, P., &, Duckett, T., (2005). A multilevel relaxation algorithm for simultaneous localization and mapping. IEEE Transactions on Robotics, 21 (2), 196-207. (Pubitemid 40608450)
29. Gemeiner, P., Davison, A. J., &, Vincze, M., (2008, June). Improving localization robustness in monocular SLAM using a high-speed camera. In Proceedings of Robotics: Science and Systems, Zurich, Switzerland.
30. Grisetti, G., Grzonka, S., Stachniss, C., Pfaff, P., &, Burgard, W., (2007, October). Efficient estimation of accurate maximum likelihood maps in 3D. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, CA.
31. Grisetti, G., Stachniss, C., Grzonka, S., &, Burgard, W., (2007, June). A tree parameterization for efficiently computing maximum likelihood maps using gradient descent. In Proceedings of Robotics: Science and Systems (RSS), Atlanta GA.
32. Hartley, R., &, Zisserman, A., (2003). Multiple view geometry in computer vision, 2nd ed. Cambridge, UK: Cambridge University Press.
33. Howard, A., &, Roy, N., (2003). The Robotics Data Set Repository (Radish). Retrieved March 1, 2010, from.
34. Konolige, K., Bowman, J., Chen, J. D., Mihelich, P., Calonder, M., Lepetit, V., &, Fua, P., (2009, June). View-based maps. In Proceedings of Robotics: Science and Systems, Seattle, WA.
35. Lemaire, T., &, Lacroix, S., (2007). SLAM with panoramic vision. Journal of Field Robotics, 24, 91-111. (Pubitemid 46469846)
36. Li, F.-F., &, Perona, P., (2005, June). A Bayesian hierarchical model for learning natural scene categories. In Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, San Diego, CA.
37. Lowe, D. G., (1999, September). Object recognition from local scale-invariant features. In Proceedings of the IEEE International Conference on Computer Vision, Kerkyra, Greece (pp. 1150-1157).
38. Mei, C., Sibley, G., Cummins, M., Newman, P., &, Reid, I., (2009, September). A constant-time efficient stereo SLAM system. In Proceedings of the British Machine Vision Conference, London.
39. Montemerlo, M., Thrun, S., Koller, D., &, Wegbreit, B., (2002, July). FastSLAM: A factored solution to the simultaneous localization and mapping problem. In Proceedings of the AAAI National Conference on Artificial Intelligence, Edmonton, Canada.
40. Montiel, J. M. M., Civera, J., &, Davison, A. J., (2006, August). Unified inverse depth parametrization for monocular SLAM. In Proceedings of Robotics: Science and Systems, Philadelphia, PA.
41. Mouragnon, E., Lhuillier, M., Dhome, M., Dekeyser, F., &, Sayd, P., (2009). Generic and real-time structure from motion using local bundle adjustment. Image and Vision Computing, 27 (8), 1178-1193.
42. Newman, P., Cole, D., &, Ho, K., (2006, May). Outdoor SLAM using visual appearance and laser ranging. In Proceedings of the International Conference on Robotics and Automation, Orlando, FL.
43. Newman, P., Sibley, G., Smith, M., Cummins, M., Harrison, A., Mei, C., Posner, I., Shade, R., Schrter, D., Murphy, L., Churchill, W., Cole, D., &, Reid, I., (2009). Navigating, recognising and describing urban spaces with vision and laser. International Journal of Robotics Research, 28, 1406-1433.
44. Nicosevici, T., &, Garca, R., (2009). On-line visual vocabularies for robot navigation and mapping. In Proceedings of IROS, St. Louis, MO (pp. 205-212).
45. Nistér, D., Naroditsky, O., &, Bergen, J., (2006). Visual odometry for ground vehicle applications. Journal of Field Robotics, 23 (1), 3-20.
46. Nistér, D., &, Stewénius, H., (2006, June). Scalable recognition with a vocabulary tree. In Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, New York (pp. 2161-2168). (Pubitemid 44931581)
47. Olson, E., Leonard, J., &, Teller, S., (2006, May). Fast iterative optimization of pose graphs with poor initial estimates. InProceedings of the IEEE International Conference on Robotics and Automation, Orlando, FL (pp. 2262-2269). (Pubitemid 44940403)
48. Rosten, E., &, Drummond, T., (2006, May). Machine leaning for high-speed corner detection. In Proceedings of the European Conference on Computer Vision, Graz, Austria (pp. 430-443). (Pubitemid 44029797)
49. Rousseeuw, P. J., &, Leroy, A. M., (1987). Robust regression and outlier detection. New York: Wiley.
50. Sivic, J., &, Zisserman, A., (2003, October). Video Google: A text retrieval approach to object matching in videos.In Proceedings of the IEEE International Conference on Computer Vision, Nice, France (pp. 1470-1477).
51. Smith, R., Self, M., &, Cheeseman, P., (1990). Estimating uncertain spatial relationships in robotics. In Autonomous robot vehicles (pp. 435-461). Amsterdam: Springer Verlag.
52. Stewénius, H., Engels, C., &, Nistér, D., (2006). Recent developments on direct relative orientation. ISPRS Journal of Photogrammetry and Remote Sensing, 60, 284-294. (Pubitemid 43815728)
53. Strasdat, H., Montiel, J. M. M., &, Davison, A. J., (2010, June). Scale drift-aware large scale monocular SLAM. In Proceedings of Robotics: Science and Systems Conference, Zaragoza, Spain.
54. Thode, H. C., (2002). Testing for normality. Boca Raton, FL: CRC Press.
55. Thrun, S., &, Montemerlo, M., (2006). The GraphSLAM algorithm with applications to large-scale mapping of urban structures. International Journal of Robotics Research, 25 (5-6), 403-429.
56. Triggs, B., McLauchlan, P. F., Hartley, R. I., &, Fitzgibbon, A. W., (1999, September). Bundle adjustment - A modern synthesis. In Proceedings of the International Workshop on Vision Algorithms: Theory and Practice, Corfu, Greece (vol. 1883/2000, pp. 1-71).
57. Williams, B., Cummins, M., Neira, J., Newman, P., Reid, I., &, Tardos, J., (2008, September). An image-to-map loop closing method for monocular SLAM. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Nice, France.