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RSLAM: A System for Large-Scale Mapping in Constant-Time Using Stereo

Abstract:

Large scale exploration of the environment requires a constant time estimation engine. Bundle adjustment or pose relaxation do not fulfil these requirements as the number of parameters to solve grows with the size of the environment. We describe a relative simultaneous localisation and mapping system (RSLAM) for the constant-time estimation of structure and motion using a binocular stereo camera system as the sole sensor. Achieving robustness in the presence of difficult and changing lighting...

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Publication status:
Published

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Publisher copy:
10.1007/s11263-010-0361-7

Authors


Cummins, M More by this author
Journal:
INTERNATIONAL JOURNAL OF COMPUTER VISION
Volume:
94
Issue:
2
Pages:
198-214
Publication date:
2011-09-05
DOI:
EISSN:
1573-1405
ISSN:
0920-5691
URN:
uuid:76f5e366-3afa-4d1a-8ced-34291601c3be
Source identifiers:
159387
Local pid:
pubs:159387
Language:
English
Keywords:

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