Artificial intelligence: a modern approach
Artificial intelligence: a modern approach
Using Real-Time Stereo Vision for Mobile Robot Navigation
Autonomous Robots
Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans
Journal of Intelligent and Robotic Systems
Shape Matching and Object Recognition Using Shape Contexts
IEEE Transactions on Pattern Analysis and Machine Intelligence
Rao-Blackwellised Particle Filtering for Dynamic Bayesian Networks
UAI '00 Proceedings of the 16th Conference on Uncertainty in Artificial Intelligence
FastSLAM: a factored solution to the simultaneous localization and mapping problem
Eighteenth national conference on Artificial intelligence
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 1 - Volume 1
Object Recognition from Local Scale-Invariant Features
ICCV '99 Proceedings of the International Conference on Computer Vision-Volume 2 - Volume 2
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
Shape Matching and Object Recognition Using Low Distortion Correspondences
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 1 - Volume 01
A Performance Evaluation of Local Descriptors
IEEE Transactions on Pattern Analysis and Machine Intelligence
High speed obstacle avoidance using monocular vision and reinforcement learning
ICML '05 Proceedings of the 22nd international conference on Machine learning
CRV '06 Proceedings of the The 3rd Canadian Conference on Computer and Robot Vision
MonoSLAM: Real-Time Single Camera SLAM
IEEE Transactions on Pattern Analysis and Machine Intelligence
A tutorial on particle filters for online nonlinear/non-GaussianBayesian tracking
IEEE Transactions on Signal Processing
Omnidirectional vision scan matching for robot localization in dynamic environments
IEEE Transactions on Robotics
Improved Techniques for Grid Mapping With Rao-Blackwellized Particle Filters
IEEE Transactions on Robotics
Large-Scale 6-DOF SLAM With Stereo-in-Hand
IEEE Transactions on Robotics
Inverse Depth Parametrization for Monocular SLAM
IEEE Transactions on Robotics
Pattern Recognition Letters
Path planning and traversable area marking for stereo vision-based 3D map building
International Journal of Computational Vision and Robotics
Mobile robot map building from time-of-flight camera
Expert Systems with Applications: An International Journal
A comparison of EKF and SGD applied to a view-based SLAM approach with omnidirectional images
Robotics and Autonomous Systems
Hi-index | 0.00 |
This work addresses the SLAM problem for stereo vision systems under the unified formulation of particle filter methods. In contrast to most existing approaches to visual SLAM, the present method does not rely on restrictive smooth camera motion models, but on computing incremental 6-DoF pose differences from the image flow through a probabilistic visual odometry method. Moreover, our observation model, which considers both the 3D positions and the SIFT descriptors of the landmarks, avoids explicit data association between the observations and the map by marginalizing the observation likelihood over all the possible associations. We have experimentally validated our research with two experiments in indoor scenarios.