DocumentCode
2932259
Title
A Visual Front-end for Simultaneous Localization and Mapping
Author
Goncalves, Luis ; Di Bernardo, Enrico ; Benson, Dave ; Svedman, Marcus ; Ostrowski, Jim ; Karlsson, Niklas ; Pirjanian, Paolo
Author_Institution
Evolution Robotics, Inc. Pasadena, California, USA Email: luis@evolution.com
fYear
2005
fDate
18-22 April 2005
Firstpage
44
Lastpage
49
Abstract
We describe a method of generating and utilizing visual landmarks that is well suited for SLAM applications. The landmarks created are highly distinctive and reliably detected, virtually eliminating the data association problem present in other landmark schemes. Upon subsequent detections of a landmark, a 3-D pose can be estimated. The scheme requires a single camera.
Keywords
SIFT-features; SLAM; landmark detection; pose estimation; vision-based landmarks; Cameras; Image recognition; Mobile robots; Object recognition; Power generation; Robot sensing systems; Robot vision systems; Robustness; Simultaneous localization and mapping; Sonar; SIFT-features; SLAM; landmark detection; pose estimation; vision-based landmarks;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN
0-7803-8914-X
Type
conf
DOI
10.1109/ROBOT.2005.1570094
Filename
1570094
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