Visual bearing-only simultaneous localization and mapping with improved feature matching

Informatik aktuell

Volumn , Issue , 2007, Pages 15-21

  Strasdat, Hauke ^a   Stachniss, Cyrill ^a   Bennewitz, Maren ^a   Burgard, Wolfram ^a  

^a UNIVERSITY OF FREIBURG   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

COST FUNCTIONS; GLOBAL OPTIMIZATION; MAPPING; ROBOTICS;

DEPTH INFORMATION; FEATURE DESCRIPTORS; FEATURE MATCHING; GLOBAL OPTIMIZATION ALGORITHM; RAO BLACKWELLIZED; SIMULTANEOUS LOCALIZATION AND MAPPING; SIMULTANEOUS LOCALIZATION AND MAPPING PROBLEMS; SPATIAL INFORMATIONS;

ROBOTS;

EID: 84882959659     PISSN: 1431472X     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1007/978-3-540-74764-2_3     Document Type: Conference Paper

References (10)

1. Davison A: Real-time simultaneous localization and mapping with a single camera. In Proc. of European Conf. on Computer Vision (ECCV), 2003.
2. Davision A, Reid I, Molton N, and Stasse O: MonoSLAM: Real-time single camera SLAM. IEEE Transaction on Pattern Analysis and Machine Intelligence 29(6), 2007.
3. Sim R, Elinas P, Griffin M, and Little J: Vision-based SLAM using a Rao-Blackwellized particle filter. In Proc. of IJCAIWorkshop on Reasoning with Uncertainty in Robotics, 2005.
4. Montemerlo M, Thrun S, Koller D, and Wegbreit B: FastSLAM: A factored solution the to simultanieous localization and mapping problem. In Proc. of National Conference on Artificial Intelligence (AAAI), 2002.
5. Lowe D: Distinctive image feature from scale-invariant keypoints. In Proc. of International Journal of Computer Vision (IJCV), 2003.
6. Lemaire T, Lacroix S, and Sol J: A practical bearing-only SLAMalgorithm. In Proc. of IEEE International Conf. on Intelligent Robots and Systems (IROS), 2005.
7. Bay H, Tuytelaars T, and Van Gool L: SURF: Speeded up robust features. In Proc. of European Conf. on Computer Vision (ECCV), 2006.
8. Hartley R and Zisserman A: Multiple View Geometry in Computer Vision. Cambirdige university press, second edition, 2003.
9. Kuhn H: The Hungarian method for the assigment problem. Naval Research Logistic Quaterly, 2:83-97, 1955.
10. Lu F and Milios E: Robot pose estimation in unkown environments by matching 2d range scans. In Proc. of IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 935-938, 1994.