The Development and Comparison of Robust Methodsfor Estimating the Fundamental Matrix
International Journal of Computer Vision
Multi-view Matching for Unordered Image Sets, or "How Do I Organize My Holiday Snaps?"
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part I
Learning and Evaluating Visual Features for Pose Estimation
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
Video Google: A Text Retrieval Approach to Object Matching in Videos
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Epipolar Geometry Estimation via RANSAC Benefits from the Oriented Epipolar Constraint
ICPR '04 Proceedings of the Pattern Recognition, 17th International Conference on (ICPR'04) Volume 1 - Volume 01
From omnidirectional images to hierarchical localization
Robotics and Autonomous Systems
Robotics and Autonomous Systems
MonoSLAM: Real-Time Single Camera SLAM
IEEE Transactions on Pattern Analysis and Machine Intelligence
Image-based Visual Servoing with Central Catadioptric Cameras
International Journal of Robotics Research
FAB-MAP: Probabilistic Localization and Mapping in the Space of Appearance
International Journal of Robotics Research
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
On the bending problem for large scale mapping
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Vision-based global localization and mapping for mobile robots
IEEE Transactions on Robotics
Exactly Sparse Delayed-State Filters for View-Based SLAM
IEEE Transactions on Robotics
From Sensors to Human Spatial Concepts: An Annotated Data Set
IEEE Transactions on Robotics
Mapping a Suburb With a Single Camera Using a Biologically Inspired SLAM System
IEEE Transactions on Robotics
Information-Efficient 3-D Visual SLAM for Unstructured Domains
IEEE Transactions on Robotics
Three 2D-warping schemes for visual robot navigation
Autonomous Robots
Finding minimum weight connected dominating set in stochastic graph based on learning automata
Information Sciences: an International Journal
Robotics and Autonomous Systems
Cleaning robot navigation using panoramic views and particle clouds as landmarks
Robotics and Autonomous Systems
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Loop closing in vision based SLAM applications is a difficult task. Comparing new image data with all previously acquired image data is practically impossible because of the high computational costs. Most approaches therefore compare new data with only a subset of the old data, for example by sampling the data over time or over space by using a position estimate. In this paper, we propose a more natural approach, which dynamically determines a subset of images that best describes the complete image data in the space of all previously seen images. The actual problem of finding such a subset is called the ''Connected Dominating Set'' (CDS) problem, which is well studied in the field of graph theory. Application on large indoor datasets results in approximately the same map using only 13% of the computational resources with respect to comparing with all previous images. Also, it outperforms other sampling approaches. The proposed method is particularly beneficial for realistic mapping scenarios including moving objects and persons, motion blur and changing light conditions.