Mini-SLAM: minimalistic visual SLAM in large-scale environments based on a new interpretation of image similarity

Andreasson, Henrik and Duckett, Tom and Lilienthal, Achim (2007) Mini-SLAM: minimalistic visual SLAM in large-scale environments based on a new interpretation of image similarity. In: IEEE International Converence on Robotics and Automation (ICRA 2007), 10-14 April 2007, Rome, Italy.

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Item Type:Conference or Workshop contribution (Paper)
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Abstract

This paper presents a vision-based approach to SLAM in large-scale environments with minimal sensing and
computational requirements. The approach is based on a graphical representation of robot poses and links between the poses. Links between the robot poses are established based on odomety and image similarity, then a relaxation algorithm is used to generate a globally consistent map. To estimate the covariance matrix for links obtained from the vision sensor, a novel method is introduced based on the relative similarity of neighbouring images, without requiring distances to image features or multiple view geometry. Indoor and outdoor experiments demonstrate that the approach scales well to large-scale environments, producing topologically correct and geometrically accurate maps at minimal computational cost. Mini-SLAM was found to produce consistent maps in an unstructured, large-scale environment (the total path length was 1.4 km) containing indoor and outdoor passages.

Keywords:Robotic Mapping, Mobile Robotics, Visual SLAM
Subjects:G Mathematical and Computer Sciences > G700 Artificial Intelligence
Divisions:College of Science > School of Computer Science
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ID Code:29849
Deposited On:30 Nov 2017 20:50

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