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Outdoor SLAM using visual appearance and laser ranging

Abstract:

This paper describes a 3D SLAM system using information from an actuated laser scanner and camera installed on a mobile robot. The laser samples the local geometry of the environment and is used to incrementally build a 3D point-cloud map of the workspace. Sequences of images from the camera are used to detect loop closure events (without reference to the internal estimates of vehicle location) using a novel appearance-based retrieval system. The loop closure detection is robust to repetitive...

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Publication status:
Published

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Publisher copy:
10.1109/ROBOT.2006.1641869

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Volume:
2006
Pages:
1180-1187
Publication date:
2006
DOI:
ISSN:
1050-4729
URN:
uuid:6510f58b-a8ab-4cd2-be8f-e3de738ad41a
Source identifiers:
65742
Local pid:
pubs:65742
ISBN:
0-7803-9505-0

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