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MonoSLAM: Realtime single camera SLAM

by Andrew J. Davison, Ian D. Reid, Nicholas D. Molton, Olivier Stasse - IEEE Transactions on Pattern Analysis and Machine Intelligence , 2007
"... Abstract—We present a real-time algorithm which can recover the 3D trajectory of a monocular camera, moving rapidly through a previously unknown scene. Our system, which we dub MonoSLAM, is the first successful application of the SLAM methodology from mobile robotics to the “pure vision ” domain of ..."
Abstract - Cited by 480 (26 self) - Add to MetaCart
Abstract—We present a real-time algorithm which can recover the 3D trajectory of a monocular camera, moving rapidly through a previously unknown scene. Our system, which we dub MonoSLAM, is the first successful application of the SLAM methodology from mobile robotics to the “pure vision ” domain

Appearance-based minimalistic metric SLAM

by Paul E. Rybski, Stergios I. Roumeliotis, Maria Gini, Nikolaos Papanikolopoulos - IN PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON ROBOTICS AND INTELLIGENT SYSTEMS (IROS), LAS VEGAS, USA , 2003
"... This paper addresses the problem of Simultaneous Localization and Mapping (SLAM) for the case of very small, resource-limited robots which have poor odometry and can typically only carry a single monocular camera. We propose a modification to the standard SLAM algorithm in which the assumption that ..."
Abstract - Cited by 10 (2 self) - Add to MetaCart
This paper addresses the problem of Simultaneous Localization and Mapping (SLAM) for the case of very small, resource-limited robots which have poor odometry and can typically only carry a single monocular camera. We propose a modification to the standard SLAM algorithm in which the assumption

Robust Monte Carlo Localization for Mobile Robots

by Sebastian Thrun, Dieter Fox, Wolfram Burgard, Frank Dellaert , 2001
"... Mobile robot localization is the problem of determining a robot's pose from sensor data. This article presents a family of probabilistic localization algorithms known as Monte Carlo Localization (MCL). MCL algorithms represent a robot's belief by a set of weighted hypotheses (samples), whi ..."
Abstract - Cited by 826 (88 self) - Add to MetaCart
Mobile robot localization is the problem of determining a robot's pose from sensor data. This article presents a family of probabilistic localization algorithms known as Monte Carlo Localization (MCL). MCL algorithms represent a robot's belief by a set of weighted hypotheses (samples

An appearance-based visual compass for mobile robots

by J. Sturm, A. Visser , 2006
"... robots ..."
Abstract - Cited by 15 (3 self) - Add to MetaCart
robots

A Probabilistic Approach to Concurrent Mapping and Localization for Mobile Robots

by Sebastian Thrun, Wolfram Burgard, Dieter Fox, Henry Hexmoor, Maja Mataric - Machine Learning , 1998
"... . This paper addresses the problem of building large-scale geometric maps of indoor environments with mobile robots. It poses the map building problem as a constrained, probabilistic maximum-likelihood estimation problem. It then devises a practical algorithm for generating the most likely map from ..."
Abstract - Cited by 487 (47 self) - Add to MetaCart
. This paper addresses the problem of building large-scale geometric maps of indoor environments with mobile robots. It poses the map building problem as a constrained, probabilistic maximum-likelihood estimation problem. It then devises a practical algorithm for generating the most likely map from

A Mathematical Introduction to Robotic Manipulation

by Richard M. Murray, Zexiang Li, S. Shankar Sastry , 1994
"... ..."
Abstract - Cited by 1002 (53 self) - Add to MetaCart
Abstract not found

Understanding Code Mobility

by Alfonso Fuggetta, Gian Pietro Picco, Giovanni Vigna - IEEE COMPUTER SCIENCE PRESS , 1998
"... The technologies, architectures, and methodologies traditionally used to develop distributed applications exhibit a variety of limitations and drawbacks when applied to large scale distributed settings (e.g., the Internet). In particular, they fail in providing the desired degree of configurability, ..."
Abstract - Cited by 549 (34 self) - Add to MetaCart
, scalability, and customizability. To address these issues, researchers are investigating a variety of innovative approaches. The most promising and intriguing ones are those based on the ability of moving code across the nodes of a network, exploiting the notion of mobile code. As an emerging research field

The Vector Field Histogram -- Fast Obstacle Avoidance For Mobile Robots

by J. Borenstein, Y. Koren - IEEE JOURNAL OF ROBOTICS AND AUTOMATION , 1991
"... A new real-time obstacle avoidance method for mobile robots has been developed and implemented. This method, named the vector field histogram(VFH), permits the detection of unknown obstacles and avoids collisions while simultaneously steering the mobile robot toward the target. The VFH method uses a ..."
Abstract - Cited by 470 (23 self) - Add to MetaCart
A new real-time obstacle avoidance method for mobile robots has been developed and implemented. This method, named the vector field histogram(VFH), permits the detection of unknown obstacles and avoids collisions while simultaneously steering the mobile robot toward the target. The VFH method uses

The Player/Stage Project: Tools for Multi-Robot and Distributed Sensor Systems

by Brian P. Gerkey, Richard T. Vaughan, Andrew Howard - In Proceedings of the 11th International Conference on Advanced Robotics , 2003
"... This paper describes the Player/Stage software tools applied to multi-robot, distributed-robot and sensor network systems. Player is a robot device server that provides network transparent robot control. Player seeks to constrain controller design as little as possible; it is device independent, non ..."
Abstract - Cited by 617 (14 self) - Add to MetaCart
This paper describes the Player/Stage software tools applied to multi-robot, distributed-robot and sensor network systems. Player is a robot device server that provides network transparent robot control. Player seeks to constrain controller design as little as possible; it is device independent

An efficient index for visual search in appearance-based slam

by Kiana Hajebi, Hong Zhang - In Robotics and Automation (ICRA), 2014 IEEE International Conference on , 2014
"... Abstract — Vector-quantization can be a computationally ex-pensive step in visual bag-of-words (BoW) search when the vocabulary is large. A BoW-based appearance SLAM needs to tackle this problem for an efficient real-time operation. We propose an effective method to speed up the vector quantization ..."
Abstract - Cited by 2 (1 self) - Add to MetaCart
. The graph-based index, which is a k-NN graph, is built over the vocabulary words and can be extracted from the BoW’s vocabulary construction procedure, by adding one iteration to the k-means clustering, which adds small extra cost. Moreover, exploiting the fact that images acquired for appearance-based SLAM
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