Conference item
Outdoor SLAM using visual appearance and laser ranging
- Abstract:
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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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Bibliographic Details
- Volume:
- 2006
- Pages:
- 1180-1187
- Host title:
- 2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10
- Publication date:
- 2006-01-01
- DOI:
- ISSN:
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1050-4729
- Source identifiers:
-
65742
- ISBN:
- 0780395050
Item Description
- Pubs id:
-
pubs:65742
- UUID:
-
uuid:6510f58b-a8ab-4cd2-be8f-e3de738ad41a
- Local pid:
- pubs:65742
- Deposit date:
- 2012-12-19
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- Copyright date:
- 2006
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