Shape quantization and recognition with randomized trees
Neural Computation
Globally Consistent Range Scan Alignment for Environment Mapping
Autonomous Robots
Real-Time Simultaneous Localisation and Mapping with a Single Camera
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
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
The Graph SLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures
International Journal of Robotics Research
Scalable Recognition with a Vocabulary Tree
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 2
Keypoint Recognition Using Randomized Trees
IEEE Transactions on Pattern Analysis and Machine Intelligence
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
Speeded-Up Robust Features (SURF)
Computer Vision and Image Understanding
Improving the Agility of Keyframe-Based SLAM
ECCV '08 Proceedings of the 10th European Conference on Computer Vision: Part II
Parallel Tracking and Mapping for Small AR Workspaces
ISMAR '07 Proceedings of the 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality
Navigating, Recognizing and Describing Urban Spaces With Vision and Lasers
International Journal of Robotics Research
Fast Keypoint Recognition Using Random Ferns
IEEE Transactions on Pattern Analysis and Machine Intelligence
Machine learning for high-speed corner detection
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part I
Divide and Conquer: EKF SLAM in
IEEE Transactions on Robotics
FrameSLAM: From Bundle Adjustment to Real-Time Visual Mapping
IEEE Transactions on Robotics
Efficient View-Based SLAM Using Visual Loop Closures
IEEE Transactions on Robotics
Interactive 3D modeling of indoor environments with a consumer depth camera
Proceedings of the 13th international conference on Ubiquitous computing
Learning to close loops from range data
International Journal of Robotics Research
CAT-SLAM: probabilistic localisation and mapping using a continuous appearance-based trajectory
International Journal of Robotics Research
Global localization with non-quantized local image features
Robotics and Autonomous Systems
An automated vision based on-line novel percept detection method for a mobile robot
Robotics and Autonomous Systems
Bubble space and place representation in topological maps
International Journal of Robotics Research
Real-time 6-DOF multi-session visual SLAM over large-scale environments
Robotics and Autonomous Systems
Long-term mapping and localization using feature stability histograms
Robotics and Autonomous Systems
Self-help: Seeking out perplexing images for ever improving topological mapping
International Journal of Robotics Research
Multi-resolution surfel maps for efficient dense 3D modeling and tracking
Journal of Visual Communication and Image Representation
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Robotic systems that can create and use visual maps in real-time have obvious advantages in many applications, from automatic driving to mobile manipulation in the home. In this paper we describe a mapping system based on retaining stereo views of the environment that are collected as the robot moves. Connections among the views are formed by consistent geometric matching of their features. Out-of-sequence matching is the key problem: how to find connections from the current view to other corresponding views in the map. Our approach uses a vocabulary tree to propose candidate views, and a strong geometric filter to eliminate false positives: essentially, the robot continually re-recognizes where it is. We present experiments showing the utility of the approach on video data, including incremental map building in large indoor and outdoor environments, map building without localization, and re-localization when lost.