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FAB-MAP: Probabilistic localization and mapping in the space of appearance

Abstract:

This paper describes a probabilistic approach to the problem of recognizing places based on their appearance. The system we present is not limited to localization, but can determine that a new observation comes from a previously unseen place, and so augment its map. Effectively this is a SLAM system in the space of appearance. Our probabilistic approach allows us to explicitly account for perceptual aliasing in the environment-identical but indistinctive observations receive a low probability...

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Publication status:
Published

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Publisher copy:
10.1177/0278364908090961

Authors


Cummins, M More by this author
Journal:
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
Volume:
27
Issue:
6
Pages:
647-665
Publication date:
2008-06-05
DOI:
EISSN:
1741-3176
ISSN:
0278-3649
URN:
uuid:917f6474-bc02-4d6d-8f51-c8bd90b2bbb8
Source identifiers:
65722
Local pid:
pubs:65722

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