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Autonome Mobile Systeme 2007
In this this paper, we present a solution to the simultaneous localization and mapping (SLAM) problem for a robot equipped with a single perspective camera. We track extracted features over multiple frames to estimate the depth information. To represent the joint posterior about the trajectory of the robot and a map of the environment, we apply a Rao-Blackwellized particle filter. We present a novel method to match features using a cost function that takes into account differences between thedoi:10.1007/978-3-540-74764-2_3 dblp:conf/ams/StrasdatSBB07 fatcat:hn73ohcypjdademcfsl5aibxhm