Efficient View-Based SLAM Using Visual Loop Closures (bibtex)
by Ian Mahon, Stefan Williams, Oscar Pizarro, M. Johnson-Roberson
Abstract:
This paper presents a simultaneous localization and mapping algorithm suitable for large-scale visual navigation. The estimation process is based on the viewpoint augmented navigation (VAN) framework using an extended information filter. Cholesky factorization modifications are used to maintain a factor of the VAN information matrix, enabling efficient recovery of state estimates and covariances. The algorithm is demonstrated using data acquired by an autonomous underwater vehicle performing a visual survey of sponge beds. Loop-closure observations produced by a stereo vision system are used to correct the estimated vehicle trajectory produced by dead reckoning sensors.
Reference:
Efficient View-Based SLAM Using Visual Loop Closures (Ian Mahon, Stefan Williams, Oscar Pizarro, M. Johnson-Roberson), In Robotics, IEEE Transactions on, volume 24, 2008.
Bibtex Entry:
@article{Mahon2008,
	Abstract = {This paper presents a simultaneous localization and mapping algorithm
	suitable for large-scale visual navigation. The estimation process
	is based on the viewpoint augmented navigation (VAN) framework using
	an extended information filter. Cholesky factorization modifications
	are used to maintain a factor of the VAN information matrix, enabling
	efficient recovery of state estimates and covariances. The algorithm
	is demonstrated using data acquired by an autonomous underwater vehicle
	performing a visual survey of sponge beds. Loop-closure observations
	produced by a stereo vision system are used to correct the estimated
	vehicle trajectory produced by dead reckoning sensors.},
	Author = {Ian Mahon and Stefan Williams and Oscar Pizarro and M. Johnson-Roberson},
	Date-Added = {2013-08-17 13:27:30 +0000},
	Date-Modified = {2013-08-17 13:30:44 +0000},
	Issn = {1552-3098},
	Journal = {Robotics, IEEE Transactions on},
	Keywords = {jrnl},
	Number = {5},
	Owner = {mkj},
	Pages = {1002-1014},
	Timestamp = {2009.02.24},
	Title = {Efficient View-Based SLAM Using Visual Loop Closures},
	Volume = {24},
	Year = {2008},
	Bdsk-Url-1 = {http://dx.doi.org/10.1109/TRO.2008.2004888}}
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