Journal ArticleDOI
Experience-based navigation for long-term localisation
Winston Churchill,Paul Newman +1 more
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TLDR
An approach which allows us to incrementally learn a model whose complexity varies naturally in accordance with variation of scene appearance, and which focuses on vision as a primary sensor throughout, is described.Citations
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Journal ArticleDOI
Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age
Cesar Cadena,Luca Carlone,Henry Carrillo,Yasir Latif,Davide Scaramuzza,José Neira,Ian Reid,John J. Leonard +7 more
TL;DR: Simultaneous localization and mapping (SLAM) as mentioned in this paper consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving within it.
Journal ArticleDOI
Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age
Cesar Cadena,Luca Carlone,Henry Carrillo,Yasir Latif,Davide Scaramuzza,José L. Neira,Ian Reid,John J. Leonard +7 more
TL;DR: What is now the de-facto standard formulation for SLAM is presented, covering a broad set of topics including robustness and scalability in long-term mapping, metric and semantic representations for mapping, theoretical performance guarantees, active SLAM and exploration, and other new frontiers.
Journal ArticleDOI
Visual Place Recognition: A Survey
Stephanie Lowry,Niko Sünderhauf,Paul Newman,John J. Leonard,David D. Cox,Peter Corke,Michael Milford +6 more
TL;DR: A survey of the visual place recognition research landscape is presented, introducing the concepts behind place recognition, how a “place” is defined in a robotics context, and the major components of a place recognition system.
Journal Article
SeqSLAM : visual route-based navigation for sunny summer days and stormy winter nights
Michael Milford,Gordon Wyeth +1 more
TL;DR: A new approach to visual navigation under changing conditions dubbed SeqSLAM, which removes the need for global matching performance by the vision front-end - instead it must only pick the best match within any short sequence of images.
Journal ArticleDOI
University of Michigan North Campus long-term vision and lidar dataset
TL;DR: This paper documents a large scale, long-term autonomy dataset for robotics research collected on the University of Michigan’s North Campus that consists of omnidirectional imagery, 3D lidar, planar lidars, GPS, and proprioceptive sensors for odometry collected using a Segway robot.
References
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Book ChapterDOI
SURF: speeded up robust features
TL;DR: A novel scale- and rotation-invariant interest point detector and descriptor, coined SURF (Speeded Up Robust Features), which approximates or even outperforms previously proposed schemes with respect to repeatability, distinctiveness, and robustness, yet can be computed and compared much faster.
Journal ArticleDOI
Speeded-Up Robust Features (SURF)
TL;DR: A novel scale- and rotation-invariant detector and descriptor, coined SURF (Speeded-Up Robust Features), which approximates or even outperforms previously proposed schemes with respect to repeatability, distinctiveness, and robustness, yet can be computed and compared much faster.
Journal ArticleDOI
Simultaneous localization and mapping (SLAM): part II
TL;DR: This paper discusses the recursive Bayesian formulation of the simultaneous localization and mapping (SLAM) problem in which probability distributions or estimates of absolute or relative locations of landmarks and vehicle pose are obtained.
Journal ArticleDOI
Faster and Better: A Machine Learning Approach to Corner Detection
TL;DR: A new heuristic for feature detection is presented and, using machine learning, a feature detector is derived from this which can fully process live PAL video using less than 5 percent of the available processing time.
Journal ArticleDOI
BRIEF: Computing a Local Binary Descriptor Very Fast
Michael Calonder,Vincent Lepetit,Mustafa Özuysal,Tomasz Trzcinski,Christoph Strecha,Pascal Fua +5 more
TL;DR: This paper shows that one can directly compute a binary descriptor, which it is called BRIEF, on the basis of simple intensity difference tests and shows that it yields comparable recognition accuracy, while running in an almost vanishing fraction of the time required by either.
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SeqSLAM: Visual route-based navigation for sunny summer days and stormy winter nights
Michael Milford,Gordon Wyeth +1 more
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