An Insect-Based Approach to Robotic Homing
ICPR '98 Proceedings of the 14th International Conference on Pattern Recognition-Volume 1 - Volume 1
MonoSLAM: Real-Time Single Camera SLAM
IEEE Transactions on Pattern Analysis and Machine Intelligence
Visual loop-closing with image profiles
Proceedings of the 2009 ACM symposium on Applied Computing
OpenRatSLAM: an open source brain-based SLAM system
Autonomous Robots
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This paper investigates the extent to which image profiles, pixel-intensity sums across subsets of a video stream, offer a basis for autonomous robotics. Building on previous work that uses image profiles for odometry, we introduce an improved algorithm for odometric estimation based on visual input alone. In addition, we extend prior results by showing how image profiles can support control and exploration tasks. We validate these new approaches through results implemented atop a low-cost vision-only vehicle consisting of a laptop and an iRobot Create.