- 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...
Expand abstract - Publication status:
- Published
- 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
- Copyright date:
- 2006
Conference
Outdoor SLAM using visual appearance and laser ranging
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