A Method for Registration of 3-D Shapes
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
Multiple view geometry in computer visiond
Multiple view geometry in computer visiond
3D Model Acquisition from Extended Image Sequences
ECCV '96 Proceedings of the 4th European Conference on Computer Vision-Volume II - Volume II
Real-Time Simultaneous Localisation and Mapping with a Single Camera
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
A column approximate minimum degree ordering algorithm
ACM Transactions on Mathematical Software (TOMS)
Algorithm 849: A concise sparse Cholesky factorization package
ACM Transactions on Mathematical Software (TOMS)
Real Time Localization and 3D Reconstruction
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1
MonoSLAM: Real-Time Single Camera SLAM
IEEE Transactions on Pattern Analysis and Machine Intelligence
Visually Mapping the RMS Titanic: Conservative Covariance Estimates for SLAM Information Filters
International Journal of Robotics Research
Square Root SAM: Simultaneous Localization and Mapping via Square Root Information Smoothing
International Journal of Robotics Research
Omnidirectional Vision Based Topological Navigation
International Journal of Computer Vision
A Study of the Rao-Blackwellised Particle Filter for Efficient and Accurate Vision-Based SLAM
International Journal of Computer Vision
A RANSAC-based approach to model fitting and its application to finding cylinders in range data
IJCAI'81 Proceedings of the 7th international joint conference on Artificial intelligence - Volume 2
DP-SLAM: fast, robust simultaneous localization and mapping without predetermined landmarks
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
Covariance recovery from a square root information matrix for data association
Robotics and Autonomous Systems
Fusing Monocular Information in Multicamera SLAM
IEEE Transactions on Robotics
FrameSLAM: From Bundle Adjustment to Real-Time Visual Mapping
IEEE Transactions on Robotics
iSAM: Incremental Smoothing and Mapping
IEEE Transactions on Robotics
Active vision in robotic systems: A survey of recent developments
International Journal of Robotics Research
Mobile robot map building from time-of-flight camera
Expert Systems with Applications: An International Journal
Human detection for a robot tractor using omni-directional stereo vision
Computers and Electronics in Agriculture
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We propose to use a multi-camera rig for simultaneous localization and mapping (SLAM), providing flexibility in sensor placement on mobile robot platforms while exploiting the stronger localization constraints provided by omni-directional sensors. In this context, we present a novel probabilistic approach to data association, that takes into account that features can also move between cameras under robot motion. Our approach circumvents the combinatorial data association problem by using an incremental expectation maximization algorithm. In the expectation step we determine a distribution over correspondences by sampling. In the maximization step, we find optimal parameters of a density over the robot motion and environment structure. By summarizing the sampling results in so-called virtual measurements, the resulting optimization simplifies to the equivalent optimization problem for known correspondences. We present results for simulated data, as well as for data obtained by a mobile robot equipped with a multi-camera rig.