Real-time hierarchical stereo Visual SLAM in large-scale environments

Robotics and Autonomous Systems

Volumn 58, Issue 8, 2010, Pages 991-1002

  Schleicher, David ^a   Bergasa, Luis M ^a   Ocaña, Manuel ^a   Barea, Rafael ^a   López, Elena ^a  

^a UNIVERSITY OF ALCALÁ   (Spain)

Author keywords

Mobile robots; Stereo vision; Tracking

Indexed keywords

BAYESIAN NETWORKS; LARGE SCALE SYSTEMS; MOBILE ROBOTS; STEREO IMAGE PROCESSING; SURFACE DISCHARGES; TOPOLOGY;

GLOBAL CONSISTENCY; HIERARCHICAL STRATEGIES; LOCAL CONSISTENCY; OUTDOOR ENVIRONMENT; REAL TIME CONSTRAINTS; TOPOLOGICAL LEVELS; URBAN ENVIRONMENTS; VISUAL INFORMATION;

STEREO VISION;

EID: 79952908351     PISSN: 09218890     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.robot.2010.03.016     Document Type: Article

References (35)

1. M.E. López, L.M. Bergasa, R. Barea, M.S. Escudero, A navigation system for assistant robots using visually augmented pomdps, Autonomous Robots 19 (1) (2005) 67-87. (Pubitemid 40683692)
2. P. Newman, J. Leonard, J. Tardós, J. Neira, Explore and return: experimental validation of real time concurrent mapping and localization, in: Proc. IEEE Int. Conf. Robotics and Automation, IEEE, 2002, pp. 1802-1809. (Pubitemid 34916505)
3. A. Davison, Real-time simultaneous localisation and mapping with a single camera, in: Proc. of the 9th International Conference on Computer Vision ICCV'03, 2003.
4. C. Engels, H. Stewenius, D. Nister, Bundle adjustment rules, in: PCV06, 2006.
5. E. Royer, M. Lhuillier, M. Dhome, T. Chateau, Localization in urban environments: monocular vision compared to a differential GPS sensor, in: CVPR'05: Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, CVPR'05-Volume 2, IEEE Computer Society, Washington, DC, USA, 2005, pp. 114-121.
6. E. Mouragnon, F. Dekeyser, P. Sayd, M. Lhuillier, M. Dhome, Real time localization and 3D reconstruction, in: Computer Vision and Pattern Recognition, 2006 IEEE Computer Society Conference on, vol. 1, 2006, pp. 363-370. (Pubitemid 44931352)
7. M. Montemerlo, Fastslam: a factored solution to the simultaneous localization and mapping problem with unknown data association, Ph.D. Thesis, Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, July 2003.
8. T. Bailey, J. Nieto, E.M. Nebot, Consistency of the fastslam algorithm, in: ICRA, IEEE, 2006, pp. 424-429. (Pubitemid 44940111)
9. C. Stachniss, G. Grisetti, W. Burgard, Analyzing Gaussian proposal distributions for mapping with rao-blackwellized particle filters, San Diego, CA, USA, 2007.
10. E. Nerurkar, S. Roumeliotis, Power-slam: a linear-complexity, consistent algorithm for slam, in: Intelligent Robots and Systems, 2007, IROS 2007, IEEE/RSJ International Conference on, 2007, pp. 636-643.
11. F. Dellaert, M. Kaess, Square root sam: simultaneous localization and mapping via square root information smoothing, International Journal of Robotics Research 25 (12) (2006) 1181-1203. (Pubitemid 44745891)
12. L.A. Clemente, A. Davison, I. Reid, J. Neira, J.D. Tardós, Mapping large loops with a single hand-held camera, in: W. Burgard, O. Brock, C. Stachniss (Eds.), Robotics: Science and Systems, The MIT Press, 2007.
13. J. Tardós, J. Neira, P. Newman, J. Leonard, Robust mapping and localization in indoor environments using sonar data, The International Journal of Robotics Research 21 (4) (2002).
14. L.M. Paz, P. Piniés, J.D. Tardós, J. Neira, 6 DoF slam with stereo-in-hand, in: IEEE International Conference on Robotics and Automation, 2008.
15. M. Bosse, P. Newman, J. Leonard, S. Teller, Simultaneous localization and map building in large-scale cyclic environments using the atlas framework, The International Journal of Robotics Research 23 (12) (2004) 1113-1139.
16. H. Chang, C. Lee, Y. Hu, Y.-H. Lu, Multi-robot slam with topological/metric maps, in: Intelligent Robots and Systems, 2007, IROS 2007, IEEE/RSJ International Conference on, 2007, pp. 1467-1472.
17. U. Frese, P. Larsson, T. Duckett, A multilevel relaxation algorithm for simultaneous localization and mapping, IEEE Transactions on Robotics and Automation 21 (2) (2005) 196-207. (Pubitemid 40608450)
18. A.J. Davison, I.D. Reid, N.D. Molton, O. Stasse, Monoslam: real-time single camera slam, IEEE Transactions on Pattern Analysis and Machine Intelligence 29 (6) (2007) 1052-1067. (Pubitemid 46667415)
19. P. Piniés, J. Tardós, Scalable slam building conditionally independent local maps, in: Intelligent Robots and Systems, 2007, IROS 2007, IEEE/RSJ International Conference on, 2007, pp. 3466-3471.
20. J. Leonard, H. Feder, Decoupled stochastic mapping, in: Technical Report, MIT, 1999.
21. K. Chong, L. Kleeman, Large scale sonarray mapping using multiple connected local maps, in: International Conference on Field and Service Robotics, 1997, pp. 538-545.
22. S. Williams, Efficient solutions to autonomous mapping and navigation problems, Ph.D. Thesis, University of Sydney, 2001.
23. T. Bailey, Mobile robot localisation and mapping in extensive outdoor environments, Ph.D. Thesis, University of Sydney, 2002.
24. E. Eade, T. Drummond, Monocular slam as a graph of coalesced observations, in: Computer Vision, 2007, ICCV 2007, IEEE 11th International Conference on, 2007, pp. 1-8.
25. C. Estrada, J. Neira, J.D. Tardós, Hierarchical slam: real-time accurate mapping of large environments, IEEE Transactions on Robotics 21 (4) (2005) 588-596. (Pubitemid 41226889)
26. B. Steder, G. Grisetti, S. Grzonka, C. Stachniss, A. Rottmann, W. Burgard, Learning maps in 3D using attitude and noisy vision sensors, in: Iros, San Diego, CA, USA, 2007.
27. H. Andreasson, T. Duckett, A. Lilienthal, Mini-slam: minimalistic visual slam in large-scale environments based on a new interpretation of image similarity, in: Robotics and Automation, 2007, IEEE International Conference on, 2007, pp. 4096-4101. (Pubitemid 350140820)
28. F. Fraundorfer, C. Engels, D. Nister, Topological mapping, localization and navigation using image collections, in: Intelligent Robots and Systems, 2007, IROS 2007, IEEE/RSJ International Conference on, 2007, pp. 3872-3877.
29. M. Cummins, P. Newman, Probabilistic appearance based navigation and loop closing, in: Robotics and Automation, 2007 IEEE International Conference on, 2007, pp. 2042-2048. (Pubitemid 350140480)
30. D. Schleicher, L. Bergasa, R. Barea, E. Lopez, M. Ocana, Real-time simultaneous localization and mapping using a wide-angle stereo camera and adaptive patches, in: Intelligent Robots and Systems, 2006, IEEE/RSJ International Conference on, 2006, pp. 2090-2095. (Pubitemid 46928203)
31. D. Schleicher, L. Bergasa, R. Barea, E. Lopez, M. Ocana, J. Nuevo, Real-time wideangle stereo visual slam on large environments using sift features correction, in: Intelligent Robots and Systems, 2007, IROS 2007, IEEE/RSJ International Conference on, 2007, pp. 3878-3883.
32. D. Lowe, Object recognition from local scale-invariant features, in: Computer Vision, 1999, The Proceedings of the Seventh IEEE International Conference on, vol. 2, 1999, pp. 1150-1157. (Pubitemid 32079997)
33. D.G. Lowe, Distinctive image features from scale-invariant keypoints, International Journal of Computer Vision 60 (2) (2004) 91-110.
34. S. Se, D. Lowe, J. Little, Vision-based mobile robot localization and mapping using scale-invariant features, in: Robotics and Automation, 2001. Proceedings 2001, ICRA, IEEE International Conference on, vol. 2, 2001, pp. 2051-2058. (Pubitemid 32815156)
35. G. Klein, D. Murray, Parallel Tracking and Mapping for Small ar Workspaces, IEEE, ACM, 2007.