Least-Squares Estimation of Transformation Parameters Between Two Point Patterns
IEEE Transactions on Pattern Analysis and Machine Intelligence
Fast multiresolution image querying
SIGGRAPH '95 Proceedings of the 22nd annual conference on Computer graphics and interactive techniques
Content-Based Image Retrieval at the End of the Early Years
IEEE Transactions on Pattern Analysis and Machine Intelligence
A frontier-based approach for autonomous exploration
CIRA '97 Proceedings of the 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation
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
Journal of Cognitive Neuroscience
FAB-MAP: Probabilistic Localization and Mapping in the Space of Appearance
International Journal of Robotics Research
Robust Appearance Based Visual Route Following for Navigation in Large-scale Outdoor Environments
International Journal of Robotics Research
A multi-hypothesis topological SLAM approach for loop closing on edge-ordered graphs
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Online and Incremental Appearance-based SLAM in Highly Dynamic Environments
International Journal of Robotics Research
Appearance-only SLAM at large scale with FAB-MAP 2.0
International Journal of Robotics Research
SURF: speeded up robust features
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part I
Appearance-Guided Monocular Omnidirectional Visual Odometry for Outdoor Ground Vehicles
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
Image change detection algorithms: a systematic survey
IEEE Transactions on Image Processing
A novel loop closure detection method in monocular SLAM
Intelligent Service Robotics
Cleaning robot navigation using panoramic views and particle clouds as landmarks
Robotics and Autonomous Systems
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In this paper, we present a feasible solution to the problem of autonomous navigation in initially unknown environments using a pure vision-based approach. The mobile robot performs range sensing with a unique omnidirectional stereovision system, estimates its motion using visual odometry and detects loop closures via a place recognition system as it performs topological map building and localization concurrently. Owing to the importance of performing loop closing regularly, the mobile robot is equipped with an active loop closure detection and validation system that assists it to return to target loop closing locations, validates ambiguous loop closures and provides it with the ability to overturn the decision of an incorrectly committed loop closure. A refined incremental probabilistic framework for an appearance-based place recognition system is fully described and the final system is validated in multiple experiments conducted in indoor, semi-outdoor and outdoor environments. Lastly, the performance of the probabilistic framework is compared with the rank-based framework with additional experiments conducted in the semi-autonomous mode, where the mobile robot, provided with a priori information in the form of a topological map that is built in a separate occasion in an offline manner, is required to reach its target destination.