Results 1 - 10 of 617

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 490 (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

Appearance-Based Place Recognition for Topological Localization

by Iwan Ulrich, Illah Nourbakhsh , 2000
"... This paper presents a new appearance-based place recognition system for topological localization. The method uses a panoramic vision system to sense the environment. Color images are classified in real-time based on nearest-neighbor learning, image histogram matching, and a simple voting scheme. The ..."
Abstract - Cited by 195 (2 self) - Add to MetaCart
This paper presents a new appearance-based place recognition system for topological localization. The method uses a panoramic vision system to sense the environment. Color images are classified in real-time based on nearest-neighbor learning, image histogram matching, and a simple voting scheme

An appearance-based visual compass for mobile robots

by J. Sturm, A. Visser , 2006
"... robots ..."
Abstract - Cited by 18 (3 self) - Add to MetaCart
robots

Appearance-Based Mapping using Minimalistic Sensor Models

by Paul E. Rybski, Stergios Roumeliotis, Maria Gini, Nikolaos Papanikopoulos
"... This paper addresses the problem of localization and map construction by a mobile robot in an indoor environment. Instead of trying to build high-fidelity geometric maps, we focus on constructing topological maps as they are less sensitive to poor odometry estimates and position errors. We propose a ..."
Abstract - Cited by 1 (0 self) - Add to MetaCart
a modification to the standard SLAM algorithm in which the assumption that the robots can obtain metric distance/bearing information to landmarks is relaxed. Instead, the robot registers a distinctive sensor “signature”, based on its current location, which is used to match robot positions. In our

Appearance-based mapping using minimalistic sensor models

by Paul E. Rybski, Stergios Roumeliotis, Maria Gini, Nikolaos Papanikopoulos , 2008
"... This paper addresses the problem of localization and map construction by a mobile robot in an indoor environment. Instead of trying to build high-fidelity geometric maps, we focus on constructing topological maps as they are less sensitive to poor odometry estimates and position errors. We propose ..."
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a modification to the standard SLAM algorithm in which the assumption that the robots can obtain metric distance/bearing information to landmarks is relaxed. Instead, the robot registers a distinctive sensor “signature”, based on its current location, which is used to match robot positions. In our

A Probabilistic Model for Appearance-Based Robot Localization

by B.J.A Kröse, N. Vlassis, R. Bunschoten, Y. Motomura - In First European Symposium on Ambience Intelligence (EUSAI , 2000
"... In this paper we present a method for an appearance based modeling of the environment of a mobile robot. We describe the task (localization of the robot) in a probabilistic framework. Linear image features are extracted using a Principal Component Analysis. The appearance model is represented as a p ..."
Abstract - Cited by 63 (19 self) - Add to MetaCart
In this paper we present a method for an appearance based modeling of the environment of a mobile robot. We describe the task (localization of the robot) in a probabilistic framework. Linear image features are extracted using a Principal Component Analysis. The appearance model is represented as a

Appearance-based obstacle detection with monocular color vision

by Iwan Ulrich, Illah Nourbakhsh - In AAAI , 2000
"... This paper presents a new vision-based obstacle detection method for mobile robots. Each individual image pixel is classified as belonging either to an obstacle or the ground based on its color appearance. The method uses a single passive color camera, performs in real-time, and provides a binary ob ..."
Abstract - Cited by 86 (6 self) - Add to MetaCart
This paper presents a new vision-based obstacle detection method for mobile robots. Each individual image pixel is classified as belonging either to an obstacle or the ground based on its color appearance. The method uses a single passive color camera, performs in real-time, and provides a binary

An appearance-based visual compass for mobile robots

by J. Sturm A, A. Visser B
"... Localization is one of the most important basic skills of a mobile robot. Most approaches, however, still rely either on special sensors or require artificial environments. In this article, a novel approach is presented that can provide compass information for localization purely based on the visual ..."
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Localization is one of the most important basic skills of a mobile robot. Most approaches, however, still rely either on special sensors or require artificial environments. In this article, a novel approach is presented that can provide compass information for localization purely based

Vision for Mobile Robot Navigation: A Survey

by Guilherme N. DeSouza, Avinash C. Kak - IEEE, TRANS. PAMI , 2002
"... This paper surveys the developments of the last 20 years in the area of vision for mobile robot navigation. Two major components of the paper deal with indoor navigation and outdoor navigation. For each component, we have further subdivided our treatment of the subject on the basis of structured an ..."
Abstract - Cited by 222 (4 self) - Add to MetaCart
and unstructured environments. For indoor robots in structured environments, we have dealt separately with the cases of geometrical and topological models of space. For unstructured environments, we have discussed the cases of navigation using optical flows, using methods from the appearance-based paradigm
Results 1 - 10 of 617