- Abstract:
-
We describe a new formulation of appearance-only SLAM suitable for very large scale place recognition. The system navigates in the space of appearance, assigning each new observation to either a new or a previously visited location, without reference to metric position. The system is demonstrated performing reliable online appearance mapping and loop-closure detection over a 1000 km trajectory, with mean filter update times of 14 ms. The scalability of the system is achieved by defining a spa...
Expand abstract - Publication status:
- Published
- Publisher copy:
- 10.1177/0278364910385483
-
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- Journal:
- INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
- Volume:
- 30
- Issue:
- 9
- Pages:
- 1100-1123
- Publication date:
- 2011-08-05
- DOI:
- EISSN:
-
1741-3176
- ISSN:
-
0278-3649
- URN:
-
uuid:dff20825-7689-479e-b869-bed8aee7be0c
- Source identifiers:
-
175463
- Local pid:
- pubs:175463
- Language:
- English
- Keywords:
- Copyright date:
- 2011
Journal article
Appearance-only SLAM at large scale with FAB-MAP 2.0
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