Real-time implementation of airborne inertial-SLAM
Robotics and Autonomous Systems
Fast and accurate SLAM with Rao-Blackwellized particle filters
Robotics and Autonomous Systems
Vision-Based SLAM: Stereo and Monocular Approaches
International Journal of Computer Vision
Detecting Loop Closure with Scene Sequences
International Journal of Computer Vision
Morphological neural networks and vision based simultaneous localization and mapping
Integrated Computer-Aided Engineering - Artificial Neural Networks
Novel indoor mobile robot navigation using monocular vision
Engineering Applications of Artificial Intelligence
Summarizing Image/Surface Registration for 6DOF Robot/Camera Pose Estimation
IbPRIA '07 Proceedings of the 3rd Iberian conference on Pattern Recognition and Image Analysis, Part II
A New Method for Robust and Efficient Occupancy Grid-Map Matching
IbPRIA '07 Proceedings of the 3rd Iberian conference on Pattern Recognition and Image Analysis, Part II
Subjective local maps for hybrid metric-topological SLAM
Robotics and Autonomous Systems
A Floating-point Extended Kalman Filter Implementation for Autonomous Mobile Robots
Journal of Signal Processing Systems
Proceedings of the 2008 conference on Artificial Intelligence Research and Development: Proceedings of the 11th International Conference of the Catalan Association for Artificial Intelligence
Metric-topological maps from laser scans adjusted with incremental tree network optimizer
Robotics and Autonomous Systems
On measuring the accuracy of SLAM algorithms
Autonomous Robots
A comparison of loop closing techniques in monocular SLAM
Robotics and Autonomous Systems
Keypoint design and evaluation for place recognition in 2D lidar maps
Robotics and Autonomous Systems
Nonlinear constraint network optimization for efficient map learning
IEEE Transactions on Intelligent Transportation Systems
Appearance-Based SLAM for Mobile Robots
Proceedings of the 2009 conference on Artificial Intelligence Research and Development: Proceedings of the 12th International Conference of the Catalan Association for Artificial Intelligence
Proceedings of the 2009 conference on Artificial Intelligence Research and Development: Proceedings of the 12th International Conference of the Catalan Association for Artificial Intelligence
Appearance-Based SLAM for Mobile Robots
Proceedings of the 2009 conference on Artificial Intelligence Research and Development: Proceedings of the 12th International Conference of the Catalan Association for Artificial Intelligence
Proceedings of the 2009 conference on Artificial Intelligence Research and Development: Proceedings of the 12th International Conference of the Catalan Association for Artificial Intelligence
Real-time hierarchical GPS aided visual SLAM on urban environments
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
A stochastically stable solution to the problem of robocentric mapping
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Spectral clustering for feature-based metric maps partitioning in a hybrid mapping framework
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
CI-graph: an efficient approach for large scale SLAM
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Finding good cycle constraints for large scale multi-robot SLAM
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
CI-graph: an efficient approach for large scale SLAM
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Simultaneous localization and mapping: A feature-based probabilistic approach
International Journal of Applied Mathematics and Computer Science - Special Section: Robot Control Theory Cezary Zielinski
Efficient path planning in deformable maps
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
SLAM in O(log n) with the combined Kalman - information filter
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Normalized graph cuts for visual SLAM
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Event-driven loop closure in multi-robot mapping
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Undelayed initialization of line segments in monocular SLAM
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Large-scale loop-closing by fusing range data and aerial image
International Journal of Robotics and Automation
Morphological independence for landmark detection in vision based SLAM
IWANN'07 Proceedings of the 9th international work conference on Artificial neural networks
Spatial information extraction for cognitive mapping with a mobile robot
COSIT'07 Proceedings of the 8th international conference on Spatial information theory
Research of mobile robot SLAM based on EKF and its improved algorithms
IITA'09 Proceedings of the 3rd international conference on Intelligent information technology application
Robust mobile robot localization in highly non-static environments
Autonomous Robots
Real-time hierarchical stereo Visual SLAM in large-scale environments
Robotics and Autonomous Systems
Optimal Filtering for Non-parametric Observation Models: Applications to Localization and SLAM
International Journal of Robotics Research
Robotics and Autonomous Systems
Large scale multiple robot visual mapping with heterogeneous landmarks in semi-structured terrain
Robotics and Autonomous Systems
RT-SLAM: a generic and real-time visual SLAM implementation
ICVS'11 Proceedings of the 8th international conference on Computer vision systems
LESS-mapping: Online environment segmentation based on spectral mapping
Robotics and Autonomous Systems
An Approach for 2D Visual Occupancy Grid Map Using Monocular Vision
Electronic Notes in Theoretical Computer Science (ENTCS)
On Camera Calibration with Linear Programming and Loop Constraint Linearization
International Journal of Computer Vision
Multi-robot olfactory search in structured environments
Robotics and Autonomous Systems
Cooperative SLAM using M-Space representation of linear features
Robotics and Autonomous Systems
Information-theoretic compression of pose graphs for laser-based SLAM
International Journal of Robotics Research
How the Location of the Range Sensor Affects EKF-based Localization
Journal of Intelligent and Robotic Systems
Quantitative and qualitative coordination for multi-robot systems
AICI'12 Proceedings of the 4th international conference on Artificial Intelligence and Computational Intelligence
Relative bundle adjustment based on trifocal constraints
ECCV'10 Proceedings of the 11th European conference on Trends and Topics in Computer Vision - Volume Part II
A review of path planning and mapping technologies for autonomous mobile robot systems
Proceedings of the 5th ACM COMPUTE Conference: Intelligent & scalable system technologies
Long-term mapping and localization using feature stability histograms
Robotics and Autonomous Systems
Efficient keyframe-based real-time camera tracking
Computer Vision and Image Understanding
Scan matching SLAM in underwater environments
Autonomous Robots
Local map-based exploration for mobile robots
Intelligent Service Robotics
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In this paper, we present a hierarchical mapping method that allows us to obtain accurate metric maps of large environments in real time. The lower (or local) map level is composed of a set of local maps that are guaranteed to be statistically independent. The upper (or global) level is an adjacency graph whose arcs are labeled with the relative location between local maps. An estimation of these relative locations is maintained at this level in a relative stochastic map. We propose a close to optimal loop closing method that, while maintaining independence at the local level, imposes consistency at the global level at a computational cost that is linear with the size of the loop. Experimental results demonstrate the efficiency and precision of the proposed method by mapping the Ada Byron building at our campus. We also analyze, using simulations, the precision and convergence of our method for larger loops.