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MVA
2010
248views Computer Vision» more  MVA 2010»
8 years 4 months ago
A comparative evaluation of interest point detectors and local descriptors for visual SLAM
Abstract In this paper we compare the behavior of different interest points detectors and descriptors under the conditions needed to be used as landmarks in visionbased simultaneou...
Arturo Gil, Óscar Martínez Mozos, M&...
BMVC
2010
8 years 7 months ago
Weighted Local Bundle Adjustment and Application to Odometry and Visual SLAM Fusion
Local Bundle Adjustments were recently introduced for visual SLAM (Simultaneous Localization and Mapping). In Monocular Visual SLAM, the scale factor is not observable and the rec...
Alexandre Eudes, Sylvie Naudet-Collette, Maxime Lh...
TROB
2008
228views more  TROB 2008»
8 years 8 months ago
Large-Scale 6-DOF SLAM With Stereo-in-Hand
In this paper, we describe a system that can carry4 out simultaneous localization and mapping (SLAM) in large in-5 door and outdoor environments using a stereo pair moving with 66 ...
Lina María Paz, Pedro Pinies, Juan D. Tard&...
ICPR
2010
IEEE
8 years 9 months ago
Fast Odometry Integration in Local Bundle Adjustment-Based Visual SLAM
The Simultaneous Localisation And Mapping (SLAM) for a camera moving in a scene is a long term research problem. Here we improve a recent visual SLAM which applies Local Bundle Ad...
Alexandre Eudes, Maxime Lhuillier, Sylvie Naudet-C...
ICRA
2007
IEEE
157views Robotics» more  ICRA 2007»
9 years 3 months ago
Automatic Relocalisation for a Single-Camera Simultaneous Localisation and Mapping System
Abstract— We describe a fast method to relocalise a monocular visual SLAM (Simultaneous Localisation and Mapping) system after tracking failure. The monocular SLAM system stores ...
Brian Williams, Paul Smith, Ian D. Reid
CRV
2007
IEEE
137views Robotics» more  CRV 2007»
9 years 3 months ago
Quantitative Evaluation of Feature Extractors for Visual SLAM
We present a performance evaluation framework for visual feature extraction and matching in the visual simultaneous localization and mapping (SLAM) context. Although feature extra...
Jonathan Klippenstein, Hong Zhang
IROS
2009
IEEE
129views Robotics» more  IROS 2009»
9 years 4 months ago
Using symmetrical regions of interest to improve visual SLAM
— Simultaneous Localization and Mapping (SLAM) based on visual information is a challenging problem. One of the main problems with visual SLAM is to find good quality landmarks,...
Gert Kootstra, Lambert Schomaker
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