The anatomy of a large-scale hypertextual Web search engine
WWW7 Proceedings of the seventh international conference on World Wide Web 7
An Accelerated Chow and Liu Algorithm: Fitting Tree Distributions to High-Dimensional Sparse Data
ICML '99 Proceedings of the Sixteenth International Conference on Machine Learning
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
Performance guarantees for hierarchical clustering
Journal of Computer and System Sciences - Special issue on COLT 2002
Creating Efficient Codebooks for Visual Recognition
ICCV '05 Proceedings of the Tenth IEEE International Conference on Computer Vision (ICCV'05) Volume 1 - Volume 01
Scalable Recognition with a Vocabulary Tree
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 2
STXXL: standard template library for XXL data sets
Software—Practice & Experience
FAB-MAP: Probabilistic Localization and Mapping in the Space of Appearance
International Journal of Robotics Research
Map Matching and Data Association for Large-Scale Two-dimensional Laser Scan-based SLAM
International Journal of Robotics Research
Introduction to Information Retrieval
Introduction to Information Retrieval
Probabilistic topological maps
Probabilistic topological maps
Hamming Embedding and Weak Geometric Consistency for Large Scale Image Search
ECCV '08 Proceedings of the 10th European Conference on Computer Vision: Part I
Navigating, Recognizing and Describing Urban Spaces With Vision and Lasers
International Journal of Robotics Research
Appearance-based loop detection from 3D laser data using the normal distributions transform
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
SURF: speeded up robust features
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part I
Toward a Unified Bayesian Approach to Hybrid Metric--Topological SLAM
IEEE Transactions on Robotics
Mapping a Suburb With a Single Camera Using a Biologically Inspired SLAM System
IEEE Transactions on Robotics
Fast and Incremental Method for Loop-Closure Detection Using Bags of Visual Words
IEEE Transactions on Robotics
CAT-SLAM: probabilistic localisation and mapping using a continuous appearance-based trajectory
International Journal of Robotics Research
A pure vision-based topological SLAM system
International Journal of Robotics Research
A novel loop closure detection method in monocular SLAM
Intelligent Service Robotics
OpenRatSLAM: an open source brain-based SLAM system
Autonomous Robots
Bubble space and place representation in topological maps
International Journal of Robotics Research
Self-help: Seeking out perplexing images for ever improving topological mapping
International Journal of Robotics Research
Robust loop closing over time for pose graph SLAM
International Journal of Robotics Research
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We describe a new formulation of appearance-only SLAM suitable for very large scale place recognition. The system navigates in the space of appearance, assigning each new observation to either a new or a previously visited location, without reference to metric position. The system is demonstrated performing reliable online appearance mapping and loop-closure detection over a 1000â聙聣km trajectory, with mean filter update times of 14â聙聣ms. The scalability of the system is achieved by defining a sparse approximation to the FAB-MAP model suitable for implementation using an inverted index. Our formulation of the problem is fully probabilistic and naturally incorporates robustness against perceptual aliasing. We also demonstrate that the approach substantially outperforms the standard term-frequency inverse-document-frequency (tf-idf) ranking measure. The 1000â聙聣km data set comprising almost a terabyte of omni-directional and stereo imagery is available for use, and we hope that it will serve as a benchmark for future systems.