Estimating uncertain spatial relationships in robotics
Autonomous robot vehicles
Artificial intelligence and mobile robots: case studies of successful robot systems
Artificial intelligence and mobile robots: case studies of successful robot systems
A Probabilistic Approach to Concurrent Mapping and Localization for Mobile Robots
Machine Learning - Special issue on learning in autonomous robots
Very fast EM-based mixture model clustering using multiresolution kd-trees
Proceedings of the 1998 conference on Advances in neural information processing systems II
Globally Consistent Range Scan Alignment for Environment Mapping
Autonomous Robots
An Experimental and Theoretical Investigation into Simultaneous Localisation and Map Building
The Sixth International Symposium on Experimental Robotics VI
Rao-Blackwellised Particle Filtering for Dynamic Bayesian Networks
UAI '00 Proceedings of the 16th Conference on Uncertainty in Artificial Intelligence
PlantCare: An Investigation in Practical Ubiquitous Systems
UbiComp '02 Proceedings of the 4th international conference on Ubiquitous Computing
Neural Networks - Special issue: Neuroinformatics
Active Appearance-Based Robot Localization Using Stereo Vision
Autonomous Robots
International Journal of Robotics Research
Robots in the desert: a research parable for our times
Communications of the ACM - The semantic e-business vision
A Discussion of Simultaneous Localization and Mapping
Autonomous Robots
The Graph SLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures
International Journal of Robotics Research
Fast and accurate SLAM with Rao-Blackwellized particle filters
Robotics and Autonomous Systems
Learning and inferring transportation routines
Artificial Intelligence
Learning spatial concepts from RatSLAM representations
Robotics and Autonomous Systems
A constrained SLAM approach to robust and accurate localisation of autonomous ground vehicles
Robotics and Autonomous Systems
MonoSLAM: Real-Time Single Camera SLAM
IEEE Transactions on Pattern Analysis and Machine Intelligence
Map building without localization by dimensionality reduction techniques
Proceedings of the 24th international conference on Machine learning
Multi-robot Simultaneous Localization and Mapping using Particle Filters
International Journal of Robotics Research
Square Root SAM: Simultaneous Localization and Mapping via Square Root Information Smoothing
International Journal of Robotics Research
Exactly Sparse Extended Information Filters for Feature-based SLAM
International Journal of Robotics Research
A Study of the Rao-Blackwellised Particle Filter for Efficient and Accurate Vision-Based SLAM
International Journal of Computer Vision
A Comparative Study of Three Mapping Methodologies
Journal of Intelligent and Robotic Systems
A Novel Measure of Uncertainty for Mobile Robot SLAM with Rao-Blackwellized Particle Filters
International Journal of Robotics Research
Brief Paper: Box particle filtering for nonlinear state estimation using interval analysis
Automatica (Journal of IFAC)
Topologically-directed navigation
Robotica
Journal of Intelligent and Robotic Systems
Dynamic motion models in Monte Carlo Localization
Integrated Computer-Aided Engineering
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 Scalable Hybrid Multi-robot SLAM Method for Highly Detailed Maps
RoboCup 2007: Robot Soccer World Cup XI
Context-based design of robotic systems
Robotics and Autonomous Systems
Autonomous vision-based robotic exploration and mapping using hybrid maps and particle filters
Image and Vision Computing
Subjective local maps for hybrid metric-topological SLAM
Robotics and Autonomous Systems
Keypoint Signatures for Fast Learning and Recognition
ECCV '08 Proceedings of the 10th European Conference on Computer Vision: Part I
Map Building by Sequential Estimation of Inter-feature Distances
PRICAI '08 Proceedings of the 10th Pacific Rim International Conference on Artificial Intelligence: Trends in Artificial Intelligence
Look-ahead Proposals for Robust Grid-based SLAM with Rao-Blackwellized Particle Filters
International Journal of Robotics Research
A tale of two platforms: low-cost robotics in the CS curriculum
Journal of Computing Sciences in Colleges
Differential evolution solution to the SLAM problem
Robotics and Autonomous Systems
Distributed multirobot exploration, mapping, and task allocation
Annals of Mathematics and Artificial Intelligence
Journal of Intelligent and Robotic 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
Particle Filter SLAM with High Dimensional Vehicle Model
Journal of Intelligent and Robotic Systems
Methodology for robot mapping and navigation in assisted living environments
Proceedings of the 2nd International Conference on PErvasive Technologies Related to Assistive Environments
Stereo vision specific models for particle filter-based SLAM
Robotics and Autonomous Systems
Using the marginalised particle filter for real-time visual-inertial sensor fusion
ISMAR '08 Proceedings of the 7th IEEE/ACM International Symposium on Mixed and Augmented Reality
Mobile robot mapping and localization in non-static environments
AAAI'05 Proceedings of the 20th national conference on Artificial intelligence - Volume 3
Bitbots: simple robots solving complex tasks
AAAI'05 Proceedings of the 20th national conference on Artificial intelligence - Volume 3
Simultaneous localization and mapping for pedestrians using only foot-mounted inertial sensors
Proceedings of the 11th international conference on Ubiquitous computing
Dynamic probabilistic relational models
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
DP-SLAM: fast, robust simultaneous localization and mapping without predetermined landmarks
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
Consistent, convergent, and constant-time SLAM
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
Thin junction tree filters for simultaneous localization and mapping
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
Biologically inspired mobile robot vision localization
IEEE Transactions on Robotics
Square Root Unscented Particle Filtering for Grid Mapping
AI '09 Proceedings of the 22nd Australasian Joint Conference on Advances in Artificial Intelligence
Improved Techniques for the Rao-Blackwellized Particle Filters SLAM
ICIRA '09 Proceedings of the 2nd International Conference on Intelligent Robotics and Applications
SLAM in large indoor environments with low-cost, noisy, and sparse sonars
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Active exploration using scheme of autonomous distribution for landmarks
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Which landmark is useful?: learning selection policies for navigation in unknown environments
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
A relative frame representation for fixed-time bundle adjustment in SFM
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Smoothed Sarsa: reinforcement learning for robot delivery tasks
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Simultaneous local and global state estimation for robotic navigation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Sonar based simultaneous localization and mapping using a neuro evolutionary optimization
IJCNN'09 Proceedings of the 2009 international joint conference on Neural Networks
CCDC'09 Proceedings of the 21st annual international conference on Chinese Control and Decision Conference
Bridging the gap between feature- and grid-based SLAM
Robotics and Autonomous Systems
A novel low-cost, limited-resource approach to autonomous multi-robot exploration and mapping
Robotics and Autonomous Systems
Method of event location identification using GPS and camera function of mobile phones
WSEAS Transactions on Information Science and Applications
Measurement noise estimator assisted extended kalman filter for SLAM problem
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
A hybrid approach to RBPF based SLAM with grid mapping enhanced by line matching
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Monocular vision SLAM for indoor aerial vehicles
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Wide-angle Visual Feature Matching for Outdoor Localization
International Journal of Robotics Research
Alignment of visual maps in multirobot FastSLAM
CIMMACS'09 Proceedings of the 8th WSEAS International Conference on Computational intelligence, man-machine systems and cybernetics
Factoring the Mapping Problem: Mobile Robot Map-building in the Hybrid Spatial Semantic Hierarchy
International Journal of Robotics Research
Autonomous Exploration and Mapping of Flooded Sinkholes
International Journal of Robotics Research
Robotic navigation in crowded environments: key challenges for autonomous navigation systems
PerMIS '08 Proceedings of the 8th Workshop on Performance Metrics for Intelligent Systems
Spatial mapping and map exploitation: a bio-inspired engineering perspective
COSIT'07 Proceedings of the 8th international conference on Spatial information theory
CIRA'09 Proceedings of the 8th IEEE international conference on Computational intelligence in robotics and automation
Robust laser scan matching in dynamic environments
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Map building without localization by estimation of inter-feature distances
Intelligent Data Analysis - Artificial Intelligence
Persistent Navigation and Mapping using a Biologically Inspired SLAM System
International Journal of Robotics Research
Multi-robot map alignment in visual SLAM
WSEAS TRANSACTIONS on SYSTEMS
Did you see Bob?: human localization using mobile phones
Proceedings of the sixteenth annual international conference on Mobile computing and networking
Map fusion in an independent multi-robot approach
WSEAS TRANSACTIONS on SYSTEMS
Towards a systematic assessment of the functions of unmanned autonomous systems
PerMIS '09 Proceedings of the 9th Workshop on Performance Metrics for Intelligent Systems
Design and Analysis of a Portable Indoor Localization Aid for the Visually Impaired
International Journal of Robotics Research
Using multi-modal 3D contours and their relations for vision and robotics
Journal of Visual Communication and Image Representation
Building virtual worlds by 3d object mapping
Proceedings of the 2010 ACM workshop on Surreal media and virtual cloning
Online scene modeling for interactive AR applications
ICEC'10 Proceedings of the 9th international conference on Entertainment computing
Algorithms and theory of computation handbook
The Feasibility of Navigation Algorithms on Smartphones using J2ME
Mobile Networks and Applications
Proceedings of the 2010 conference on Artificial Intelligence Research and Development: Proceedings of the 13th International Conference of the Catalan Association for Artificial Intelligence
A Rao-Blackwellized particle filter for EigenTracking
CVPR'04 Proceedings of the 2004 IEEE computer society conference on Computer vision and pattern recognition
Optimal Filtering for Non-parametric Observation Models: Applications to Localization and SLAM
International Journal of Robotics Research
A practical robot coverage algorithm for unknown environments
MICAI'10 Proceedings of the 9th Mexican international conference on Advances in artificial intelligence: Part I
Testing image segmentation for topological SLAM with omnidirectional images
MICAI'10 Proceedings of the 9th Mexican international conference on Advances in artificial intelligence: Part I
6DOF entropy minimization SLAM for stereo-based wearable devices
Computer Vision and Image Understanding
Goal-based trajectory analysis for unusual behaviour detection in intelligent surveillance
Image and Vision Computing
Pure topological mapping in mobile robotics
IEEE Transactions on Robotics
Real-time behavior-based robot control
Autonomous Robots
Robotic mapping and localization with real-time dense stereo on reconfigurable hardware
International Journal of Reconfigurable Computing - Special issue on selected papers from ReconFig 2009 International conference on reconfigurable computing and FPGAs (ReconFig 2009)
Robotics and Autonomous Systems
Voronoi graph matching for robot localization and mapping
Transactions on computational science IX
Power-SLAM: a linear-complexity, anytime algorithm for SLAM
International Journal of Robotics Research
Towards multi-robot independent visual SLAM
ICS'10 Proceedings of the 14th WSEAS international conference on Systems: part of the 14th WSEAS CSCC multiconference - Volume I
Voronoi graph matching for robot localization and mapping
Transactions on computational science IX
A Rao-blackwellized parts-constellation tracker
WDV'05/WDV'06/ICCV'05/ECCV'06 Proceedings of the 2005/2006 international conference on Dynamical vision
Evaluation of Interest Point Detectors and Feature Descriptors for Visual Tracking
International Journal of Computer Vision
Learning Combinatorial Map Information from Permutations of Landmarks
International Journal of Robotics Research
UAI'02 Proceedings of the Eighteenth conference on Uncertainty in artificial intelligence
Agent-Based mobile robots navigation framework
ICCS'06 Proceedings of the 6th international conference on Computational Science - Volume Part III
From factorial and hierarchical HMM to bayesian network: a representation change algorithm
SARA'05 Proceedings of the 6th international conference on Abstraction, Reformulation and Approximation
Path planning and traversable area marking for stereo vision-based 3D map building
International Journal of Computational Vision and Robotics
Dynamic maps in monte carlo localization
AI'05 Proceedings of the 18th Canadian Society conference on Advances in Artificial Intelligence
A unified Bayesian framework for global localization and SLAM in hybrid metric/topological maps
International Journal of Robotics Research
An FPGA implementation of the SMG-SLAM algorithm
Microprocessors & Microsystems
Autonomous construction of hierarchical voronoi-based route graph representations
SC'04 Proceedings of the 4th international conference on Spatial Cognition: reasoning, Action, Interaction
Using 2d and 3d landmarks to solve the correspondence problem in cognitive robot mapping
SC'04 Proceedings of the 4th international conference on Spatial Cognition: reasoning, Action, Interaction
Treemap: an O(log n) algorithm for simultaneous localization and mapping
SC'04 Proceedings of the 4th international conference on Spatial Cognition: reasoning, Action, Interaction
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
On the way to a real-time on-board orthogonal SLAM for an indoor UAV
ICIRA'11 Proceedings of the 4th international conference on Intelligent Robotics and Applications - Volume Part I
No need to war-drive: unsupervised indoor localization
Proceedings of the 10th international conference on Mobile systems, applications, and services
Locating in fingerprint space: wireless indoor localization with little human intervention
Proceedings of the 18th annual international conference on Mobile computing and networking
Distributed robotic sensor networks: An information-theoretic approach
International Journal of Robotics Research
Bearing only SLAM: a new particle filter based approach
AIS'12 Proceedings of the Third international conference on Autonomous and Intelligent Systems
Sparse VSLAM with camera-equipped quadrocopter
AIS'12 Proceedings of the Third international conference on Autonomous and Intelligent Systems
Using an autonomous robot to maintain privacy in assistive environments
Security and Communication Networks
A real-time on-board orthogonal SLAM for an indoor UAV
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part III
A review of path planning and mapping technologies for autonomous mobile robot systems
Proceedings of the 5th ACM COMPUTE Conference: Intelligent & scalable system technologies
SugarMap: location-less coverage for micro-aerial sensing swarms
Proceedings of the 12th international conference on Information processing in sensor networks
Improved actionSLAM for long-term indoor tracking with wearable motion sensors
Proceedings of the 2013 International Symposium on Wearable Computers
STORE VIEW: pervasive RFID & indoor navigation based retail inventory management
Proceedings of the 2013 ACM conference on Pervasive and ubiquitous computing adjunct publication
A comparison of EKF and SGD applied to a view-based SLAM approach with omnidirectional images
Robotics and Autonomous Systems
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The ability to simultaneously localize a robot and accurately map its surroundings is considered by many to be a key prerequisite of truly autonomous robots. However, few approaches to this problem scale up to handle the very large number of landmarks present in real environments. Kalman filter-based algorithms, for example, require time quadratic in the number of landmarks to incorporate each sensor observation. This paper presents FastSLAM, an algorithm that recursively estimates the full posterior distribution over robot pose and landmark locations, yet scales logarithmically with the number of landmarks in the map. This algorithm is based on an exact factorization of the posterior into a product of conditional landmark distributions and a distribution over robot paths. The algorithm has been run successfully on as many as 50,000 landmarks, environments far beyond the reach of previous approaches. Experimental results demonstrate the advantages and limitations of the FastSLAM algorithm on both simulated and real-world data.