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Towards simultaneous recognition, localization and mapping for hand-held and wearable cameras

Abstract:

This paper presents a system which combines single-camera SLAM (Simultaneous Localization and Mapping) with established methods for feature recognition. Besides using standard salient image features to build an on-line map of the camera's environment, this system is capable of identifying and localizing known planar objects in the scene, and incorporating their geometry into the world map. Continued measurement of these mapped objects improves both the accuracy of estimated maps and the robus...

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Publication status:
Published

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Publisher copy:
10.1109/ROBOT.2007.364109

Authors


Gawley, DJ More by this author
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Institution:
University of Oxford
Department:
Oxford, MPLS, Engineering Science
Pages:
4102-4107
Publication date:
2007
DOI:
ISSN:
1050-4729
URN:
uuid:5a1da3e5-92f4-46eb-b79c-6d4b02fa114f
Source identifiers:
63457
Local pid:
pubs:63457
ISBN:
978-1-4244-0601-2

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