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ICRA
2003
IEEE

Using visual features to build topological maps of indoor environments

10 years 8 months ago
Using visual features to build topological maps of indoor environments
Abstract— This paper addresses the problem of localization and map construction by a mobile robot in an indoor environment. Instead of trying to build high-fidelity geometric maps, we focus on constructing topological maps as they are less sensitive to poor odometry estimates and position errors. We propose a method for incrementally building topological maps for a robot which uses a panoramic camera to obtain images at various locations along its path and uses the features it tracks in the images to update the topological map. The method is very general and does not require the environment to have uniquely distinctive features.
Paul E. Rybski, Franziska Zacharias, Jean-Fran&cce
Added 04 Jul 2010
Updated 04 Jul 2010
Type Conference
Year 2003
Where ICRA
Authors Paul E. Rybski, Franziska Zacharias, Jean-François Lett, Osama Masoud, Maria L. Gini, Nikolaos Papanikolopoulos
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