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Mobile Robot Localization and Mapping with Uncertainty using Scale-Invariant Visual Landmarks

Stephen Se, David Lowe, Jim Little
2002 The international journal of robotics research  
In this paper, we describe a vision-based mobile robot localization and mapping algorithm, which uses scale-invariant image features as natural landmarks in unmodified environments.  ...  The invariance of these features to image translation, scaling and rotation makes them suitable landmarks for mobile robot localization and map building.  ...  Acknowledgments Our work has been supported by the Institute for Robotics and Intelligent System (IRIS III), a Canadian Network of Centres of Excellence, and by the Natural Sciences and Engineering Research  ... 
doi:10.1177/027836402128964611 fatcat:hoqy2mbihvge3d2kh3y3lbv6wm

Mobile Robot Localization and Mapping with Uncertainty using Scale-Invariant Visual Landmarks

Stephen Se, David Lowe, Jim Little
2002 The international journal of robotics research  
In this paper, we describe a vision-based mobile robot localization and mapping algorithm, which uses scale-invariant image features as natural landmarks in unmodified environments.  ...  The invariance of these features to image translation, scaling and rotation makes them suitable landmarks for mobile robot localization and map building.  ...  Acknowledgments Our work has been supported by the Institute for Robotics and Intelligent System (IRIS III), a Canadian Network of Centres of Excellence, and by the Natural Sciences and Engineering Research  ... 
doi:10.1177/027836402761412467 fatcat:ofxy6mbdjvffjozrdp4axq4nlm

Recognition-based indoor topological navigation using robust invariant features

Zhe Lin, Sungho Kim, In So Kweon
2005 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems  
In this paper, we present a recognition-based autonomous navigation system for mobile robots. The system is based on our previously proposed Robust Invariant Feature (RIF) detector.  ...  in both spatial and scale domains.  ...  ACKNOWLEDGMENT This work is partially supported by Ministry of Information and Communications (MIC) and NRL (code# M1-0302-00-0064) of MOST, Korea.  ... 
doi:10.1109/iros.2005.1545589 dblp:conf/iros/LinKK05 fatcat:lrxwaamzqjdfxc4hopr6htk5sy

Vision-based global localization and mapping for mobile robots

S. Se, D.G. Lowe, J.J. Little
2005 IEEE Transactions on robotics  
We have previously developed a mobile robot system which uses scale-invariant visual landmarks to localize and simultaneously build three-dimensional (3-D) maps of unmodified environments.  ...  Experiments show that global localization can be achieved accurately using the scale-invariant landmarks.  ...  Little, Member, IEEE Abstract-We have previously developed a mobile robot system which uses scale-invariant visual landmarks to localize and simultaneously build three-dimensional (3-D) maps of unmodified  ... 
doi:10.1109/tro.2004.839228 fatcat:fjrikn47izecjotdc47iwsl54e

A Survey on Data Association Methods in VSLAM
English

S.Sri Vidhya, C.B Akki, Prakash S
2015 International Journal of Engineering Trends and Technoloy  
In robotics the Simultaneous Localization and Mapping (SLAM) is the problem in which an autonomous robots acquires a map of the surrounding environment while at the same time localizes itself inside this  ...  Visual SLAM (simultaneous localization and mapping) refers to the problem of using images, as the only source of external information, in order to establish the position of a robot, a vehicle, or a moving  ...  Acknowledgement This work is part of Aeronautics Research and Development Board, Government of India. Authors wholeheartedly express their gratitude for having shared the work.  ... 
doi:10.14445/22315381/ijett-v30p216 fatcat:2nu2mzpebrbplhexue3dnl66fy

Artificial Beacons with RGB-D Environment Mapping for Indoor Mobile Robot Localization

2016 Sensors and materials  
In pose tracking problems such as the simultaneous localization and mapping (SLAM) process, the robot has to find its new pose using the observed landmarks or features in its knowledge base of its previous  ...  In general, two categories of mobile robot localization technique are identified: one is robot pose tracking, and the other is robot global localization.  ...  Most recent work also makes use of points to define landmarks, taking advantage of new, powerful interest point detection and characterization algorithms such as the scale invariant feature transform (  ... 
doi:10.18494/sam.2016.1335 fatcat:qheenvsy6bhtlejmhmc2as4we4

Real-time wide-angle stereo visual SLAM on large environments using SIFT features correction

David Schleicher, Luis M. Bergasa, Rafael Barea, Elena Lopez, Manuel Ocana, Jesus Nuevo
2007 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems  
At the submap level (low level SLAM), 3D sequential mapping of natural land-marks and the robot location/orientation are obtained using a top-down Bayesian method to model the dynamic behavior.  ...  This uses a SIFT correction method based on the sub-maps' fingerprints. A comparison of the low SLAM level using our method and SIFT features has been carried out.  ...  The global map is divided into local sub-maps identified by the SIFT visual landmarks, that we will call fingerprint. Then, the robot is locally positioned in a sub-map using the low level SLAM.  ... 
doi:10.1109/iros.2007.4399065 dblp:conf/iros/SchleicherBBLON07 fatcat:lprmcmim7jfqpfyutllzrdauee

Fast Template Matching of Objects for Visual SLAM [chapter]

Mohamed Hasan, Mohamed Abdellatif
2012 Lecture Notes in Computer Science  
The results are described for real experiments with an indoor mobile robot platform. The performance of the proposed technique is evaluated and compared to recent methods.  ...  In this paper, a simple visual mono SLAM algorithm is presented utilizing objects as landmarks and uses fast template matching to track predefined templates of these objects in an indoor environment.  ...  Moreover, generating a map of objects is intuitive and provides a meaningful map that may be useful for a variety of mobile robot applications.  ... 
doi:10.1007/978-3-642-33503-7_47 fatcat:wt3fru4lrzbi5pbgxb4dz6wplu

Estimation of Visual Maps with a Robot Network Equipped with Vision Sensors

Arturo Gil, Óscar Reinoso, Mónica Ballesta, Miguel Juliá, Luis Payá
2010 Sensors  
In this paper we present an approach to the Simultaneous Localization and Mapping (SLAM) problem using a team of autonomous vehicles equipped with vision sensors.  ...  The SLAM problem considers the case in which a mobile robot is equipped with a particular sensor, moves along the environment, obtains measurements with its sensors and uses them to construct a model of  ...  Acknowledgements This work has been supported by the spanish government by means of project: "Sistemas de Percepción Visual Móvil y Cooperativo como Soporte para la Realización de Tareas con Redes de Robots  ... 
doi:10.3390/s100505209 pmid:22399930 pmcid:PMC3292170 fatcat:6iwwl2py7jej5pkz3rrzgj2btq

Visual SLAM with Line and Corner Features

Woo Jeong, Kyoung Lee
2006 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems  
We propose a new vision-based SLAM (Simultaneous Localization and Mapping) technique using both line and corner features as landmarks in the scene.  ...  The proposed SLAM algorithm uses an Extended Kalman Filter based framework to localize and reconstruct 3D line and corner landmarks at the same time and in real time.  ...  INTRODUCTION The Simultaneous Localization and Mapping (SLAM) problem is one of the most important problems in mobile robot research, and have been the central research topic in the robotics society for  ... 
doi:10.1109/iros.2006.281708 dblp:conf/iros/JeongL06 fatcat:6sujvxgr3jbana3vjerhpt44lu

CV-SLAM: a new ceiling vision-based SLAM technique

WooYeon Jeong, Kyoung Mu Lee
2005 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems  
We propose a fast and robust CV-SLAM (Ceiling Vision -based Simultaneous Localization and Mapping) technique using a single ceiling vision sensor.  ...  Compared with the conventional frontal view systems, the ceiling vision has advantage in tracking, since it involves only rotation and affine transform without scale change.  ...  INTRODUCTION Self-localization and map building are the most important problems in mobile robot system, and have been the central research topics in the robotic society for several decades.  ... 
doi:10.1109/iros.2005.1545443 dblp:conf/iros/JeongL05 fatcat:s5w7dnw5ynhhxlpngm3dgwc7ae

Performance evaluation of visual SLAM using several feature extractors

Jonathan Klippenstein, Hong Zhang
2009 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Visual Simultaneous Localization And Mapping (SLAM) implementations must use feature extraction to reduce the dimensionality of image input, yet no comparison of feature extractors exists in the context  ...  Three feature extractors commonly used for visual SLAM are examined: the Harris corner detector, the Kanade-Lucas-Tomasi tracker, and the Scale-Invariant Feature Transform.  ...  INTRODUCTION Simultaneous Localization And Mapping (SLAM) fuses the two complementary problems of mapping and localization to allow a mobile robot to navigate and map an unknown environment without any  ... 
doi:10.1109/iros.2009.5354001 dblp:conf/iros/KlippensteinZ09 fatcat:ppga3jdkp5hffouyoahhgjcu6i

Multi-robot visual SLAM using a Rao-Blackwellized particle filter

Arturo Gil, Óscar Reinoso, Mónica Ballesta, Miguel Juliá
2010 Robotics and Autonomous Systems  
We consider that each robot is equipped with a stereo camera and is able to observe visual landmarks in the environment.  ...  This paper describes an approach to solve the Simultaneous Localization and Mapping (SLAM) problem with a team of cooperative autonomous vehicles.  ...  His research interests are focussed on mobile robotics, visual SLAM and cooperative robotics. He is currently working on techniques to build visual maps using teams of mobile robots.  ... 
doi:10.1016/j.robot.2009.07.026 fatcat:7pyjco3cs5evxae52ozwlipbmu

Feature Initialization for Bearing-Only Visual SLAM Using Triangulation and the Unscented Transform

Jonathan Klippenstein, Hong Zhang, Xiang Wang
2007 2007 International Conference on Mechatronics and Automation  
We introduce the direct linear triangulation (DLT) as a general technique for delayed feature initialization for bearing-only visual Simultaneous Localization and Mapping (SLAM).  ...  Our technique is simple and efficient, requiring no lengthy Jacobian calculations. We present results demonstrating the technique in a bearing-only SLAM system with a mobile robot.  ...  INTRODUCTION Mapping an unknown environment and tracking the pose of a robot are both key problems in mobile robotics research.  ... 
doi:10.1109/icma.2007.4303788 fatcat:lq3ioev75je5tkje25is4jhabe

Dealing with Data Association in Visual SLAM [chapter]

Arturo Gil, Oscar Reinoso, Monica Ballesta, David Ube
2008 Computer Vision  
The visual descriptor computed in this phase should also be invariant to scale and viewpoint changes.  ...  Our system has been implemented and tested on data gathered with a mobile robot in a typical office environment.  ... 
doi:10.5772/6146 fatcat:rqcj5e3pzzg7tphgolr3nt5t2q
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