RS-SLAM: RANSAC sampling for visual FastSLAM

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2011, Pages 1655-1660

  Lee, Gim Hee ^a   Fraundorfer, Friedrich ^a   Pollefeys, Marc ^a  

^a ETH ZURICH   (Switzerland)

Author keywords

[No Author keywords available]

Indexed keywords

CONSTANT VELOCITY MODELS; DATA ASSOCIATION; FAST-SLAM; FEATURE MEASUREMENT; IMAGE FEATURES; MISCLASSIFICATIONS; MONOCULAR CAMERAS; PARTICLE FILTER; PROPOSAL DISTRIBUTION; RANSAC ALGORITHM; RESAMPLING; STEREO CAMERAS;

ALGORITHMS; CAMERAS; INTELLIGENT ROBOTS; TARGET TRACKING; UNCERTAINTY ANALYSIS;

ROBOTICS;

EID: 84455185094     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2011.6048808     Document Type: Conference Paper

References (21)

1. H. Durrant-Whyte and T. Bailey, "Simultaneous localization and mapping: Part i," IEEE Robotics and Automation Magazine, June 2006.
2. -, "Simultaneous localization and mapping: Part ii," IEEE Robotics and Automation Magazine, June 2006.
3. A. J. Davison, "Real-time simultaneous localization and mapping with a single camera," International Conference on Computer Vision (ICCV), 2003.
4. E. Eade and T. Drummond, "Scalable monocular slam," IEEE Computer Vision and Pattern Recognition (CVPR), 2006.
5. D. Chekhlov, M. Pupilli, W. Mayol-Cuevas, and A. Calway, "Real-time and robust monocular slam using predictive multi-resolution descriptors, "2nd International Symposium on Visual Computing, November 2006.
6. G. Klein and D. Murray, "Parallel tracking and mapping for small ar workspaces," International Symposium on Mixed and Augmented Reality (ISMAR), 2007.
7. D. Nister, "An efficient solution to the five-point relative pose problem,"IEEE Computer Vision and Pattern Recognition (CVPR), vol. 2, pp. 195-202, 2003.
8. M. A. Fischler and R. C. Bolles, "Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography," Readings in computer vision: issues, problems, principles, and paradigms, pp. 726-740, 1987.
9. M. Montemerlo and S. Thrun, FastSLAM: A Scalable Method for the Simultaneous Localization and Mapping Problem in Robotics. Springer Tracts in Advanced Robotics, 2007.
10. O. Chum, J. Matas, and J. Kittler, "Locally optimized ransac," DAGM-Symposium, p. 236 243, 2003.
11. D. G. Lowe, "Distinctive image features from scale-invariant keypoints,"International Journal of Computer Vision, pp. 91-110, 2004.
12. H. Bay, A. Ess, T. Tuytelaars, and L. V. Gool, "Surf: Speeded up robust features," Computer Vision and Image Understanding (CVIU), vol. 110, no. 3, pp. 346-359, 2008.
13. D. Nister and H. Stewenius, "Scalable recognition with a vocabulary tree," IEEE Computer Vision and Pattern Recognition (CVPR), 2006.
14. F. Fraundorfer, C. Wu, J.-M. Frahm, and M. Pollefeys, "Visual word based location recognition in 3d models using distance augmented weighting," International Symposium on 3D Data Processing, Visualization and Transmission, 2008.
15. B. Triggs, P. McLauchlan, R. Hartley, and A. Fitzgibbon, "Bundle adjustment - a modern synthesis," Vision Algorithms: Theory and Practice, Lecture Notes in Computer Science, pp. 298-372, 2000.
16. S. N. Berthold K. P. Horn, Hugh M. Hilden, "Closed-form solution of absolute orientation using unit quaternions," Journal of the Optical Society of America A, 1987.
17. R. I. Hartley and A. Zisserman, Multiple View Geometry in Computer Vision, 2nd ed. Cambridge University Press, 2004.
18. Z. Wang and G. Dissanayake, "Map-aided 6-dof relative pose estimation for monocular slam using sparse information filters," International Conference on Control, Automation, Robotics and Vision, December 2010.
19. D. Marquardt, "An algorithm for least-squares estimation of nonlinear parameters," SIAM Journal on Applied Mathematics, p. 431441, 1963.
20. L. Meier, P. Tanskanen, F. Fraundorfer, and M. Pollefeys, "Pixhawk: A system for autonomous flight using onboard computer vision,"IEEE International Conference on Robotics and Automation, May 2011. [Online]. Available: http://pixhawk.ethz.ch/
21. M. Smith, I. Baldwin, W. Churchill, R. Paul, and P. Newman, "The new college vision and laser data set," The International Journal of Robotics Research, vol. 28, no. 5, pp. 595-599, May 2009. [Online]. Available: http://www.robots.ox.ac.uk/NewCollegeData/