View-based maps. Konolige, K., Bowman, J., Chen, J., Mihelich, P., Calonder, M., Lepetit, V., & Fua, P. In Robotics: Science and Systems Conference (RSS), 2009. abstract bibtex Robotic systems that can create and use visualmaps in realtime have obvious advantages in many applications,from automatic driving to mobile manipulation in the home. Inthis paper we describe a mapping system based on retainingviews of the environment that are collected as the robot moves.Connections among the views are formed by consistent geometricmatching of their features. The key problem we solve is howto efficiently find and match a new view to the set of viewsalready collected. Our approach uses a vocabulary tree to proposecandidate views, and a new compact feature descriptor thatmakes view matching very fast – essentially, the robot continuallyre-recognizes where it is. We present experiments showing theutility of the approach on video data, including map buildingin large environments, map building without localization, andre-localization when lost.
@inproceedings{Konolige:RSS:2009,
title = {View-based maps},
abstract = {Robotic systems that can create and use visualmaps in realtime have obvious advantages in many applications,from automatic driving to mobile manipulation in the home. Inthis paper we describe a mapping system based on retainingviews of the environment that are collected as the robot moves.Connections among the views are formed by consistent geometricmatching of their features. The key problem we solve is howto efficiently find and match a new view to the set of viewsalready collected. Our approach uses a vocabulary tree to proposecandidate views, and a new compact feature descriptor thatmakes view matching very fast -- essentially, the robot continuallyre-recognizes where it is. We present experiments showing theutility of the approach on video data, including map buildingin large environments, map building without localization, andre-localization when lost.},
booktitle = {Robotics: {Science} and {Systems} {Conference} ({RSS})},
author = {Konolige, Kurt and Bowman, James and Chen, JD and Mihelich, Patrick and Calonder, Michael and Lepetit, Vincent and Fua, Pascal},
year = {2009},
}
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