Vision-based Mobile Robot Localization And Mapping using Scale-Invariant Features (2001)
| Venue: | In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA |
| Citations: | 93 - 10 self |
BibTeX
@INPROCEEDINGS{Se01vision-basedmobile,
author = {Stephen Se and David Lowe and Jim Little},
title = {Vision-based Mobile Robot Localization And Mapping using Scale-Invariant Features},
booktitle = {In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA},
year = {2001},
pages = {2051--2058}
}
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Abstract
A key component of a mobile robot system is the ability to localize itself accurately and build a map of the environment simultaneously. In this paper, a vision-based mobile robot localization and mapping algorithm is described which uses scale-invariant image features as landmarks in unmodi ed dynamic environments. These 3D landmarks are localized and robot ego-motion is estimated by matching them, taking into account the feature viewpoint variation. With our Triclops stereo vision system, experiments show that these features are robustly matched between views, 3D landmarks are tracked, robot pose is estimated and a 3D map is built.
