Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
Real-Time Simultaneous Localisation and Mapping with a Single Camera
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Fastslam: a factored solution to the simultaneous localization and mapping problem with unknown data association
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
A tutorial on particle filters for online nonlinear/non-GaussianBayesian tracking
IEEE Transactions on Signal Processing
Vision-based 3-D trajectory tracking for unknown environments
IEEE Transactions on Robotics
Omnidirectional vision scan matching for robot localization in dynamic environments
IEEE Transactions on Robotics
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In this paper we propose a probabilistic observation model for stereo vision systems which avoids explicit data association between observations and the map by marginalizing the observation likelihood over all the possible associations. We define observations as sets of landmarks composed of their 3D locations, assumed to be normally distributed, and their SIFT descriptors. Our model has been integrated into a particle filter to test its performance in map building and global localization, as illustrated by experiments with a real robot.