Navigating, Recognizing and Describing Urban Spaces With Vision and Lasers
International Journal of Robotics Research
Visual topological SLAM and global localization
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Automatically and efficiently inferring the hierarchical structure of visual maps
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Probabilistic structure matching for visual SLAM with a multi-camera rig
Computer Vision and Image Understanding
Reduced state representation in delayed-state SLAM
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
1-point RANSAC for EKF-based structure from motion
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Real-time Quadrifocal Visual Odometry
International Journal of Robotics Research
Information-based compact pose SLAM
IEEE Transactions on Robotics
Image matching using enclosed region detector
Journal of Visual Communication and Image Representation
International Journal of Robotics Research
Vast-scale Outdoor Navigation Using Adaptive Relative Bundle Adjustment
International Journal of Robotics Research
Visual-inertial navigation, mapping and localization: A scalable real-time causal approach
International Journal of Robotics Research
Robotics and Autonomous Systems
RSLAM: A System for Large-Scale Mapping in Constant-Time Using Stereo
International Journal of Computer Vision
iSAM2: Incremental smoothing and mapping using the Bayes tree
International Journal of Robotics Research
CAT-SLAM: probabilistic localisation and mapping using a continuous appearance-based trajectory
International Journal of Robotics Research
Editors Choice Article: Visual SLAM: Why filter?
Image and Vision Computing
RGB-D mapping: Using Kinect-style depth cameras for dense 3D modeling of indoor environments
International Journal of Robotics Research
Impact of Landmark Parametrization on Monocular EKF-SLAM with Points and Lines
International Journal of Computer Vision
Three-dimensional SLAM for mapping planetary work site environments
Journal of Field Robotics
Information-theoretic compression of pose graphs for laser-based SLAM
International Journal of Robotics Research
How to localize humanoids with a single camera?
Autonomous Robots
OpenRatSLAM: an open source brain-based SLAM system
Autonomous Robots
High-precision, consistent EKF-based visual-inertial odometry
International Journal of Robotics Research
Vision-based place recognition: how low can you go?
International Journal of Robotics Research
Live RGB-D camera tracking for television production studios
Journal of Visual Communication and Image Representation
International Journal of Computer Vision
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Many successful indoor mapping techniques employ frame-to-frame matching of laser scans to produce detailed local maps as well as the closing of large loops. In this paper, we propose a framework for applying the same techniques to visual imagery. We match visual frames with large numbers of point features, using classic bundle adjustment techniques from computational vision, but we keep only relative frame pose information (a skeleton). The skeleton is a reduced nonlinear system that is a faithful approximation of the larger system and can be used to solve large loop closures quickly, as well as forming a backbone for data association and local registration. We illustrate the workings of the system with large outdoor datasets (10 km), showing large-scale loop closure and precise localization in real time.