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ICRA
2006
IEEE

Outdoor SLAM using Visual Appearance and Laser Ranging

10 years 7 months ago
Outdoor SLAM using Visual Appearance and Laser Ranging
— This paper describes a 3D SLAM system using information from an actuated laser scanner and camera installed on a mobile robot.The laser samples the local geometry of the environment and is used to incrementally build a 3D point-cloud map of the workspace. Sequences of images from the camera are used to detect loop closure events (without reference to the internal estimates of vehicle location) using a novel appearancebased retrieval system. The loop closure detection is robust to repetitive visual structure and provides a probabilistic measure of confidence. The images suggesting loop closure are then further processed with their corresponding local laser scans to yield putative Euclidean image-image transformations. We show how naive application of this transformation to effect the loop closure can lead to catastrophic linearization errors and go on to describe a way in which gross, pre-loop closing errors can be successfully annulled. We demonstrate our system working in a chall...
Paul M. Newman, David M. Cole, Kin Leong Ho
Added 11 Jun 2010
Updated 11 Jun 2010
Type Conference
Year 2006
Where ICRA
Authors Paul M. Newman, David M. Cole, Kin Leong Ho
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