|
|
|
|
RI | Publications | Mosaicing Large Cyclic Environments for Visual Navigation in Autonomous Vehicles
|
|
Text only version of this site
Mosaicing Large Cyclic Environments for Visual Navigation in Autonomous Vehicles
R. Unnikrishnan and A. Kelly
IEEE International Conference on Robotics and Automation, 2002 (ICRA '02), Vol. 4, May, 2002, pp. 4299-4306.
Jump to: Download | Abstract | Notes | Text Reference | BibTeX Reference
| Download [Help] |
Adobe portable document format (pdf) [4099 KB]
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.
| Abstract |
Mobile robot localization from large-scale appearance mosaics has been showing increasing promise as a low-cost, high-performance and infrastructure-free solution to vehicle guidance in man-made environments. The feasibility of this technique relies on the construction of a locally smooth and globally consistent high-resolution mosaic of the vehicle’s environment, efficiently done using observations that have low spatial and temporal persistence. The problem of loop closure in cyclic environments that plagues this process is one that is commonly encountered in all map-building procedures, and its solution is often computationally expensive. This paper presents a method that reliably generates consistent maps at low computational cost, while fully exploiting the topology of the observations. Extensions to a real-time implementation are discussed along with results using simulated data and those from real indoor environments.
| Notes |
Associated center: NREC
Associated project: Automated Material Transport System
Number of pages: 8
| Text Reference |
R. Unnikrishnan and A. Kelly, "Mosaicing Large Cyclic Environments for Visual Navigation in Autonomous Vehicles," IEEE International Conference on Robotics and Automation, 2002 (ICRA '02), Vol. 4, May, 2002, pp. 4299-4306.
| BibTeX Reference |
@inproceedings{Unnikrishnan_2002_4044,
author = "Ranjith Unnikrishnan and Alonzo Kelly",
title = "Mosaicing Large Cyclic Environments for Visual Navigation in Autonomous Vehicles",
booktitle = "IEEE International Conference on Robotics and Automation, 2002 (ICRA '02)",
month = "May",
year = "2002",
volume = "4",
pages = "4299-4306"
}