Recursive Estimation of Motion, Structure, and Focal Length
IEEE Transactions on Pattern Analysis and Machine Intelligence
Structure from Motion Causally Integrated Over Time
IEEE Transactions on Pattern Analysis and Machine Intelligence
Mobile Robot Localisation Using Active Vision
ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume II - Volume II
Preemptive RANSAC for Live Structure and Motion Estimation
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Real-Time Simultaneous Localisation and Mapping with a Single Camera
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
Scene Modelling, Recognition and Tracking with Invariant Image Features
ISMAR '04 Proceedings of the 3rd IEEE/ACM International Symposium on Mixed and Augmented Reality
A Performance Evaluation of Local Descriptors
IEEE Transactions on Pattern Analysis and Machine Intelligence
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1
Real-Time Visual SLAM with Resilience to Erratic Motion
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1
Vision-Based SLAM in Real-Time
IbPRIA '07 Proceedings of the 3rd Iberian conference on Pattern Recognition and Image Analysis, 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
Appearance Based Extraction of Planar Structure in Monocular SLAM
SCIA '09 Proceedings of the 16th Scandinavian Conference on Image Analysis
Pose tracking from natural features on mobile phones
ISMAR '08 Proceedings of the 7th IEEE/ACM International Symposium on Mixed and Augmented Reality
A relative frame representation for fixed-time bundle adjustment in SFM
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
On the complexity and consistency of UKF-based SLAM
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Detailed 3D mapping based on image edge-point ICP and recovery from registration failure
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Robust feature descriptors for efficient vision-based tracking
CIARP'07 Proceedings of the Congress on pattern recognition 12th Iberoamerican conference on Progress in pattern recognition, image analysis and applications
Exploiting distinctive visual landmark maps in pan-tilt-zoom camera networks
Computer Vision and Image Understanding
Augmented crime scenes: virtual annotation of physical environments for forensic investigation
Proceedings of the 2nd ACM workshop on Multimedia in forensics, security and intelligence
On optimal dynamic sequential search for matching in real- time machine vision
IEEE Transactions on Image Processing
Evaluation of Interest Point Detectors and Feature Descriptors for Visual Tracking
International Journal of Computer Vision
Mobile Augmented Reality: A topometric system for wide area augmented reality
Computers and Graphics
Real-time camera tracking using a global localization scheme
ACCV'10 Proceedings of the 2010 international conference on Computer vision - Volume part II
Johnny: An Autonomous Service Robot for Domestic Environments
Journal of Intelligent and Robotic Systems
AnySURF: flexible local features computation
AAMAS'11 Proceedings of the 10th international conference on Advanced Agent Technology
Monocular SLAM with undelayed initialization for an indoor robot
Robotics and Autonomous Systems
AnySURF: flexible local features computation
Robot Soccer World Cup XV
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We describe a robust system for vision-based SLAM using a single camera which runs in real-time, typically around 30 fps. The key contribution is a novel utilisation of multi-resolution descriptors in a coherent top-down framework. The resulting system provides superior performance over previous methods in terms of robustness to erratic motion, camera shake, and the ability to recover from measurement loss. SLAM itself is implemented within an unscented Kalman filter framework based on a constant position motion model, which is also shown to provide further resilience to non-smooth camera motion. Results are presented illustrating successful SLAM operation for challenging hand-held camera movement within desktop environments.