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Omnidirectional vision based topological navigation
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TLDR
A novel system for autonomous mobile robot navigation with only an omnidirectional camera as sensor is presented, able to build automatically and robustly accurate topologically organised environment maps of a complex, natural environment.Citations
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Visual-inertial navigation, mapping and localization: A scalable real-time causal approach
Eagle Jones,Stefano Soatto +1 more
TL;DR: An integrated approach to ‘loop-closure’, that is the recognition of previously seen locations and the topological re-adjustment of the traveled path, is described, where loop-closure can be performed without the need to re-compute past trajectories or perform bundle adjustment.
Journal ArticleDOI
Large-Scale 6-DOF SLAM With Stereo-in-Hand
TL;DR: A system that can carry out simultaneous localization and mapping (SLAM) in large indoor and outdoor environments using a stereo pair moving with 6 DOF as the only sensor, which accommodates both monocular and stereo.
Journal IssueDOI
Visual teach and repeat for long-range rover autonomy
Paul Furgale,Timothy D. Barfoot +1 more
TL;DR: Because it enables long-range autonomous behavior in a single command cycle, visual teach and repeat is well suited to planetary applications, such as Mars sample return, in which no GPS is available.
Journal ArticleDOI
Vast-scale Outdoor Navigation Using Adaptive Relative Bundle Adjustment
TL;DR: A new relative bundle adjustment is derived which, instead of optimizing in a single Euclidean space, works in a metric space defined by a manifold, and it is shown experimentally that it is possible to solve for the full maximum-likelihood solution incrementally in constant time, even at loop closure.
Journal ArticleDOI
Vision-based topological mapping and localization methods
TL;DR: This paper reviews the main solutions presented in the last fifteen years of topological mapping and localization methods, and classify them in accordance to the kind of image descriptor employed, including global, local, BoW and combinations.
References
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Autonomous Mobile Robot Intrinsic Navigation Based on Visual Topological Map
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