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ICRA
2007
IEEE

Frame-Frame Matching for Realtime Consistent Visual Mapping

13 years 10 months ago
Frame-Frame Matching for Realtime Consistent Visual Mapping
Many successful indoor mapping techniques employ frame-to-frame matching of laser scans to produce detailed local maps, as well as closing large loops. In this paper, we propose a framework for applying the same techniques to visual imagery, matching visual frames with large numbers of point features. The relationship between frames is kept as a nonlinear measurement, and can be used to solve large loop closures quickly. Both monocular (bearing-only) and binocular vision can be used to generate matches. Other advantages of our system are that no special landmark initialization is required, and large loops can be solved very quickly.
Kurt Konolige, Motilal Agrawal
Added 03 Jun 2010
Updated 03 Jun 2010
Type Conference
Year 2007
Where ICRA
Authors Kurt Konolige, Motilal Agrawal
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