DocumentCode
3312472
Title
An approach to appearance-based simultaneous localization and map building (SLAM)
Author
Lee, Chun-Fan ; Sowmya, Arcot
Author_Institution
Sch. of Comput Sci. & Eng., Univ. of New South Wales, Australia
Volume
2
fYear
2004
fDate
1-3 Dec. 2004
Firstpage
857
Abstract
Current robotic localization and SLAM algorithms are restricted to simple geometric features such as lines and corners as landmarks. The richness of the information provided by visual perception has not been fully explored. This paper presents a vision based SLAM algorithm which utilizes visual information with minimal prior assumptions.
Keywords
Kalman filters; artificial intelligence; mobile robots; navigation; appearance based simultaneous localization and map building; autonomous mobile robot; extended Kalman filter; geometric features; robotic localization; vision based SLAM algorithms; Content addressable storage; Intelligent sensors; Mobile robots; Navigation; Predictive models; Robot kinematics; Robot sensing systems; Robustness; Simultaneous localization and mapping; Visual perception;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics, Automation and Mechatronics, 2004 IEEE Conference on
Print_ISBN
0-7803-8645-0
Type
conf
DOI
10.1109/RAMECH.2004.1438030
Filename
1438030
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