DocumentCode
2521913
Title
Appearance-based SLAM with map loop closing using an omnidirectional camera
Author
Saedan, Mana ; Lim, Chee Wang ; Ang, Marcelo H., Jr.
Author_Institution
Univ. of Singapore, Singapore
fYear
2007
fDate
4-7 Sept. 2007
Firstpage
1
Lastpage
6
Abstract
Appearance-based localization research has been very active recently. However, the assumption that a map of an environment is available a prior is often invalid due to dynamic nature of the surrounding appearance. This paper presents a simultaneous localization and map-building (SLAM) system that is able to incrementally build a map and detect a visited location, i.e. a loop. The system is able to produce reasonable mapping accuracy even when operating a large area.
Keywords
SLAM (robots); cameras; mobile robots; robot vision; appearance-based SLAM; catadioptric vision sensor; map loop closing; omnidirectional camera; simultaneous localization-map-building system; Cameras; Computational geometry; Feature extraction; Manufacturing; Mechanical engineering; Navigation; Particle filters; Robot sensing systems; Robot vision systems; Simultaneous localization and mapping; Appearance-Based; Omnidirectional Camera; SLAM;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced intelligent mechatronics, 2007 IEEE/ASME international conference on
Conference_Location
Zurich
Print_ISBN
978-1-4244-1263-1
Electronic_ISBN
978-1-4244-1264-8
Type
conf
DOI
10.1109/AIM.2007.4412510
Filename
4412510
Link To Document