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Journal article

Appearance-only SLAM at large scale with FAB-MAP 2.0

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...

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Publication status:
Published

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Publisher copy:
10.1177/0278364910385483

Authors


Cummins, M More by this author
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:

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