A stochastic map for uncertain spatial relationships
Proceedings of the 4th international symposium on Robotics Research
Active vision
A Probabilistic Approach to Concurrent Mapping and Localization for Mobile Robots
Machine Learning - Special issue on learning in autonomous robots
Contour Tracking by Stochastic Propagation of Conditional Density
ECCV '96 Proceedings of the 4th European Conference on Computer Vision-Volume I - Volume I
Mobile Robot Localisation Using Active Vision
ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume II - Volume II
3-D Motion and Structure from 2-D Motion Causally Integrated over Time: Implementation
ECCV '00 Proceedings of the 6th European Conference on Computer Vision-Part II
A unifying framework for structure and motion recovery from image sequences
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
Active visual navigation using non-metric structure
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
An Integrated Bayesian Approach to Layer Extraction from Image Sequences
ICCV '99 Proceedings of the International Conference on Computer Vision-Volume 2 - Volume 2
Maintaining Multiple Motion Model Hypotheses Over Many Views to Recover Matching and Structure
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
Robust Computation and Parametrization of Multiple View Relations
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
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Reviewing the important problem of sequential localisation and map-building, we emphasize its genericity and in particular draw parallels between the often divided fields of computer vision and robot navigation. We compare sequential techniques with the batch methodologies currently prevalent in computer vision, and explain the additional challenges presented by real-time constraints which mean that there is still much work to be done in the sequential case, which when solved will lead to impressive and useful applications. In a detailed tutorial on map-building using first-order error propagation, particular attention is drawn to the roles of modelling and an active methodology. Finally, recognising the critical role of software in tackling a generic problem such as this, we announce the distribution of a proven and carefully designed open-source software framework which is intended for use in a wide range of robot and vision applications: http://www.robots.ox.ac.uk/~ajd/