On the representation and estimation of spatial uncertainly
International Journal of Robotics Research
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Probabilistic Robotics (Intelligent Robotics and Autonomous Agents)
Probabilistic Robotics (Intelligent Robotics and Autonomous Agents)
Interest Point Detectors for Visual SLAM
Current Topics in Artificial Intelligence
Underwater SLAM in man-made structured environments
Journal of Field Robotics
Segmented SLAM in three-dimensional environments
Journal of Field Robotics - Three-Dimensional Mapping, Part 3
Journal of Field Robotics - Three-Dimensional Mapping, Part 3
Feature tracking and matching in video using programmable graphics hardware
Machine Vision and Applications
SURF: speeded up robust features
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part I
IEEE Transactions on Robotics
Divide and Conquer: EKF SLAM in
IEEE Transactions on Robotics
Large-Scale SLAM Building Conditionally Independent Local Maps: Application to Monocular Vision
IEEE Transactions on Robotics
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This article discusses the possibility of building in real-time a mosaic of the seafloor relying on a simultaneous localization and mapping (SLAM) framework. The goal is to provide an unmanned underwater vehicle with a relatively rough visual map of the seafloor to support basic navigation and context awareness. To achieve that goal, an accurate estimation of the location of the visual landmarks and, in particular, the correct data association when a visual landmark is re-visited by the vehicle are the crucial points. Instead of using a global mosaic, this work uses the combination of a set of local mosaics constructed in the vicinity of the SLAM visual landmarks. The contributions of this article are mainly the use of SURF features, the local mosaics approach and the real-time capability. The use of SURF features allows eliminating false positives in the data association of SLAM visual landmarks. The local mosaics approach is an effective way of correcting the effects of the drift on the mosaic in real time. The main contribution is the real-time capability as it will be seen. The algorithm was tested using a batch of experimental data in typical operating conditions and the results prove the effectiveness of the approach.