Globally Consistent Range Scan Alignment for Environment Mapping
Autonomous Robots
Conditional Random Fields: Probabilistic Models for Segmenting and Labeling Sequence Data
ICML '01 Proceedings of the Eighteenth International Conference on Machine Learning
Bundle Adjustment - A Modern Synthesis
ICCV '99 Proceedings of the International Workshop on Vision Algorithms: Theory and Practice
Practical parameterization of rotations using the exponential map
Journal of Graphics Tools
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
Real-Time Simultaneous Localisation and Mapping with a Single Camera
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
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
Scalable Recognition with a Vocabulary Tree
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 2
Square Root SAM: Simultaneous Localization and Mapping via Square Root Information Smoothing
International Journal of Robotics Research
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
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
International Journal of Robotics Research
Wide-area augmented reality using camera tracking and mapping in multiple regions
Computer Vision and Image Understanding
Guest Editorial Special Issue on Visual SLAM
IEEE Transactions on Robotics
iSAM: Incremental Smoothing and Mapping
IEEE Transactions on Robotics
Robust loop closing over time for pose graph SLAM
International Journal of Robotics Research
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This paper describes a system for performing real-time multi-session visual mapping in large-scale environments. Multi-session mapping considers the problem of combining the results of multiple simultaneous localisation and mapping (SLAM) missions performed repeatedly over time in the same environment. The goal is to robustly combine multiple maps in a common metrical coordinate system, with consistent estimates of uncertainty. Our work employs incremental smoothing and mapping (iSAM) as the underlying SLAM state estimator and uses an improved appearance-based method for detecting loop closures within single mapping sessions and across multiple sessions. To stitch together pose graph maps from multiple visual mapping sessions, we employ spatial separator variables, called anchor nodes, to link together multiple relative pose graphs. The system architecture consists of a separate front-end for computing visual odometry and windowed bundle adjustment on individual sessions, in conjunction with a back-end for performing the place recognition and multi-session mapping. We provide experimental results for real-time multi-session visual mapping on wheeled and handheld datasets in the MIT Stata Center. These results demonstrate key capabilities that will serve as a foundation for future work in large-scale persistent visual mapping.