Name
Abstract | ||
|---|---|---|
A key component of a mobile robot system is the A kc, ability to localize itself accurately and build a map of the environment simultaneously. In this paper, a vision-based mobile robot localization and mapping algorithm is described which ruses scale-invariant image features as landmarks in unmodified dynamic environments. These 3D landmarks are localized and robot ego-motion is estimated by matching them,, taking into account the feature viewpoint variation. With our Triclops stereo vision system, experiments show that these features are robustly matched between views, 3D landmarks are tracked, robot pose is estimated and a 3D map is built. |
Year | DOI | Venue |
|---|---|---|
2001 | 10.1109/ROBOT.2001.932909 | 2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS |
Keywords | Field | DocType |
mobile robots,motion estimation,computer science,image features,simultaneous localization and mapping,scale invariance,stereo vision,machine vision,mobile robot,robustness | Stereo cameras,Computer vision,Feature (computer vision),Stereopsis,Artificial intelligence,Motion estimation,Engineering,Mobile robot navigation,Robot,Mobile robot,Computer stereo vision | Conference |
Volume | Issue | ISSN |
2 | 1 | 1050-4729 |
Citations | PageRank | References |
206 | 30.97 | 16 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Stephen Se | 1 | 786 | 92.81 |
| D. G. Lowe | 2 | 15718 | 1413.60 |
| James J. Little | 3 | 2430 | 269.59 |