Least-Squares Fitting of Two 3-D Point Sets
IEEE Transactions on Pattern Analysis and Machine Intelligence
Estimating uncertain spatial relationships in robotics
Autonomous robot vehicles
Fitting Parameterized Three-Dimensional Models to Images
IEEE Transactions on Pattern Analysis and Machine Intelligence
Three-dimensional computer vision: a geometric viewpoint
Three-dimensional computer vision: a geometric viewpoint
Multiple view geometry in computer vision
Multiple view geometry in computer vision
Rao-Blackwellised Particle Filtering for Dynamic Bayesian Networks
UAI '00 Proceedings of the 16th Conference on Uncertainty in Artificial Intelligence
Monte Carlo Localization with Mixture Proposal Distribution
Proceedings of the Seventeenth National Conference on Artificial Intelligence and Twelfth Conference on Innovative Applications of Artificial Intelligence
FastSLAM: a factored solution to the simultaneous localization and mapping problem
Eighteenth national conference on Artificial intelligence
Shape Indexing Using Approximate Nearest-Neighbour Search in High-Dimensional Spaces
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
Object Recognition from Local Scale-Invariant Features
ICCV '99 Proceedings of the International Conference on Computer Vision-Volume 2 - 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
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
Vision-based global localization for mobile robots with hybrid maps of objects and spatial layouts
Information Sciences: an International Journal
Probabilistic structure matching for visual SLAM with a multi-camera rig
Computer Vision and Image Understanding
Coarse-to-fine global localization for mobile robots with hybrid maps of objects and spatial layouts
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Path planning and traversable area marking for stereo vision-based 3D map building
International Journal of Computational Vision and Robotics
Mobile robot map building from time-of-flight camera
Expert Systems with Applications: An International Journal
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With recent advances in real-time implementations of filters for solving the simultaneous localization and mapping (SLAM) problem in the range-sensing domain, attention has shifted to implementing SLAM solutions using vision-based sensing. This paper presents and analyses different models of the Rao-Blackwellised particle filter (RBPF) for vision-based SLAM within a comprehensive application architecture. The main contributions of our work are the introduction of a new robot motion model utilizing structure from motion (SFM) methods and a novel mixture proposal distribution that combines local and global pose estimation. In addition, we compare these under a wide variety of operating modalities, including monocular sensing and the standard odometry-based methods. We also present a detailed study of the RBPF for SLAM, addressing issues in achieving real-time, robust and numerically reliable filter behavior. Finally, we present experimental results illustrating the improved accuracy of our proposed models and the efficiency and scalability of our implementation.