Least-Squares Fitting of Two 3-D Point Sets
IEEE Transactions on Pattern Analysis and Machine Intelligence
A stochastic map for uncertain spatial relationships
Proceedings of the 4th international symposium on Robotics Research
The Design and Use of Steerable Filters
IEEE Transactions on Pattern Analysis and Machine Intelligence
Subspace methods for recovering rigid motion I: algorithm and implementation
International Journal of Computer Vision
Estimation of Displacements from Two 3-D Frames Obtained From Stereo
IEEE Transactions on Pattern Analysis and Machine Intelligence
A survey of image registration techniques
ACM Computing Surveys (CSUR)
Local Grayvalue Invariants for Image Retrieval
IEEE Transactions on Pattern Analysis and Machine Intelligence
Match Propogation for Image-Based Modeling and Rendering
IEEE Transactions on Pattern Analysis and Machine Intelligence
Non-parametric Local Transforms for Computing Visual Correspondence
ECCV '94 Proceedings of the Third European Conference-Volume II on Computer Vision - Volume II
Experimental Comparison of Techniques for Localization and Mapping Using a Bearing-Only Sensor
ISER '00 Experimental Robotics VII
Exploring artificial intelligence in the new millennium
Object Recognition from Local Scale-Invariant Features
ICCV '99 Proceedings of the International Conference on Computer Vision-Volume 2 - Volume 2
Comparing and Evaluating Interest Points
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
Preemptive RANSAC for Live Structure and Motion Estimation
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Real-Time Simultaneous Localisation and Mapping with a Single Camera
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Image matching with scale adjustment
Computer Vision and Image Understanding
Hierarchical SLAM: Real-Time Accurate Mapping of Large Environments
IEEE Transactions on Robotics
Journal of Intelligent and Robotic Systems
A Dual Graph Pyramid Approach to Grid-Based and Topological Maps Integration for Mobile Robotics
IWANN '09 Proceedings of the 10th International Work-Conference on Artificial Neural Networks: Part I: Bio-Inspired Systems: Computational and Ambient Intelligence
Vision-based unmanned aerial vehicle navigation using geo-referenced information
EURASIP Journal on Advances in Signal Processing - Special issue on signal processing advances in robots and autonomy
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
Horizon matching for localizing unordered panoramic images
Computer Vision and Image Understanding
Event-driven loop closure in multi-robot mapping
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Digital elevation map estimation by vision-lidar fusion
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Using multi-modal 3D contours and their relations for vision and robotics
Journal of Visual Communication and Image Representation
Conditional localization and mapping using stereo camera
PRICAI'10 Proceedings of the 11th Pacific Rim international conference on Trends in artificial intelligence
On optimal dynamic sequential search for matching in real- time machine vision
IEEE Transactions on Image Processing
Temporal accumulation of oriented visual features
Journal of Visual Communication and Image Representation
Large scale multiple robot visual mapping with heterogeneous landmarks in semi-structured terrain
Robotics and Autonomous Systems
Robust camera pose and scene structure analysis for service robotics
Robotics and Autonomous Systems
Survey of advances in guidance, navigation, and control of unmanned rotorcraft systems
Journal of Field Robotics
An evaluation framework for stereo-based driver assistance
Proceedings of the 15th international conference on Theoretical Foundations of Computer Vision: outdoor and large-scale real-world scene analysis
Cross-spectral visual simultaneous localization and mapping (SLAM) with sensor handover
Robotics and Autonomous Systems
Semi-parametric learning for visual odometry
International Journal of Robotics Research
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Building a spatially consistent model is a key functionality to endow a mobile robot with autonomy. Without an initial map or an absolute localization means, it requires to concurrently solve the localization and mapping problems. For this purpose, vision is a powerful sensor, because it provides data from which stable features can be extracted and matched as the robot moves. But it does not directly provide 3D information, which is a difficulty for estimating the geometry of the environment. This article presents two approaches to the SLAM problem using vision: one with stereovision, and one with monocular images. Both approaches rely on a robust interest point matching algorithm that works in very diverse environments. The stereovision based approach is a classic SLAM implementation, whereas the monocular approach introduces a new way to initialize landmarks. Both approaches are analyzed and compared with extensive experimental results, with a rover and a blimp.