Multiple view geometry in computer visiond
Multiple view geometry in computer visiond
Bundle Adjustment - A Modern Synthesis
ICCV '99 Proceedings of the International Workshop on Vision Algorithms: Theory and Practice
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
Fusing Points and Lines for High Performance Tracking
ICCV '05 Proceedings of the Tenth IEEE International Conference on Computer Vision - Volume 2
Real Time Localization and 3D Reconstruction
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1
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
FAB-MAP: Probabilistic Localization and Mapping in the Space of Appearance
International Journal of Robotics Research
ECCV '08 Proceedings of the 10th European Conference on Computer Vision: Part I
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
The New College Vision and Laser Data Set
International Journal of Robotics Research
Simultaneous local and global state estimation for robotic navigation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Vlfeat: an open and portable library of computer vision algorithms
Proceedings of the international conference on Multimedia
FrameSLAM: From Bundle Adjustment to Real-Time Visual Mapping
IEEE Transactions on Robotics
Efficient Homography-Based Tracking and 3-D Reconstruction for Single-Viewpoint Sensors
IEEE Transactions on Robotics
Editors Choice Article: Visual SLAM: Why filter?
Image and Vision Computing
Field testing of visual odometry aided by a sun sensor and inclinometer
Journal of Field Robotics
How to localize humanoids with a single camera?
Autonomous Robots
Geometric particle swarm optimization for robust visual ego-motion estimation via particle filtering
Image and Vision Computing
LaserGun: a tool for hybrid 3D reconstruction
ICVS'13 Proceedings of the 9th international conference on Computer Vision Systems
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Large scale exploration of the environment requires a constant time estimation engine. Bundle adjustment or pose relaxation do not fulfil these requirements as the number of parameters to solve grows with the size of the environment. We describe a relative simultaneous localisation and mapping system (RSLAM) for the constant-time estimation of structure and motion using a binocular stereo camera system as the sole sensor. Achieving robustness in the presence of difficult and changing lighting conditions and rapid motion requires careful engineering of the visual processing, and we describe a number of innovations which we show lead to high accuracy and robustness. In order to achieve real-time performance without placing severe limits on the size of the map that can be built, we use a topo-metric representation in terms of a sequence of relative locations. When combined with fast and reliable loop-closing, we mitigate the drift to obtain highly accurate global position estimates without any global minimisation. We discuss some of the issues that arise from using a relative representation, and evaluate our system on long sequences processed at a constant 30---45 Hz, obtaining precisions down to a few meters over distances of a few kilometres.