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
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;
Conference_Titel :
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN :
0-7803-8914-X
DOI :
10.1109/ROBOT.2005.1570094
