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ICRA
2007
IEEE

Recognising and Modelling Landmarks to Close Loops in Outdoor SLAM

10 years 9 months ago
Recognising and Modelling Landmarks to Close Loops in Outdoor SLAM
Abstract— In this paper, simultaneous localisation and mapping (SLAM) is combined with landmark recognition to close large loops in unstructured, outdoor environments. Camera and laser information are fused to recognise and create appearance models for landmarks. The representation is obtained through a non-linear probabilistic regression model encoding a neighbourhood preserving dimensionality reduction. A new data association algorithm is proposed where landmarks are associated based on both position and appearance. The resulting system is more robust and able to recover from possible misassociations. Experiments demonstrate the benefits of this approach in challenging problems involving mapping with large loop closings in irregular terrain, and with dynamic objects.
Fabio T. Ramos, Juan Nieto, Hugh F. Durrant-Whyte
Added 03 Jun 2010
Updated 03 Jun 2010
Type Conference
Year 2007
Where ICRA
Authors Fabio T. Ramos, Juan Nieto, Hugh F. Durrant-Whyte
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