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Vision-based loop closing for delayed state robot mapping
dc.contributor.author | Ila, Viorela Simona |
dc.contributor.author | Andrade-Cetto, Juan |
dc.contributor.author | Valencia Carreño, Rafael |
dc.contributor.author | Sanfeliu Cortés, Alberto |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.contributor.other | Institut de Robòtica i Informàtica Industrial |
dc.date.accessioned | 2009-03-13T09:31:54Z |
dc.date.available | 2009-03-13T09:31:54Z |
dc.date.created | 2007 |
dc.date.issued | 2007 |
dc.identifier.citation | Ila, Viorela; Andrade-Cetto, Juan; Valencia, Rafael; Sanfeliu, Alberto. "Vision-based loop closing for delayed state robot mapping". A: 2007 IEEE/RSJ International Conference on Intelligent Robot and Systems (IROS), San Diego, Estats Units d'Amèrica, 2007. IEEE , 2007, p. 3892-3897. |
dc.identifier.isbn | 1424409128 |
dc.identifier.uri | http://hdl.handle.net/2117/2753 |
dc.description.abstract | This paper shows results on outdoor vision-based loop closing for Simultaneous Localization and Mapping. Our experiments show that for loops of over 50m, the pose estimates maintained with a Delayed-State Extended Information Filter are consistent enough to guarantee assertion of vision-based pose constraints for loop closure, provided no necessary information links are added to the estimator. The technique computes relative pose constraints via a robust least squares minimization of 3D point correspondences, which are in turn obtained from the matching of SIFT features over candidate image pairs. We propose a loop closure test that checks both for closeness of means and for highly informative updates at the same time. |
dc.format.extent | p. 3892 - 3897 |
dc.language.iso | eng |
dc.publisher | IEEE |
dc.relation.ispartof | IEEE/RSJ International Conference on Intelligent Robot and Systems (IROS) |
dc.subject | Àrees temàtiques de la UPC::Enginyeria de la telecomunicació::Processament del senyal::Processament de la imatge i del senyal vídeo |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.lcsh | Computer vision |
dc.subject.lcsh | Robots |
dc.subject.lcsh | Robotics |
dc.title | Vision-based loop closing for delayed state robot mapping |
dc.type | Conference report |
dc.subject.lemac | Visió per ordinador |
dc.subject.lemac | Robots |
dc.subject.lemac | Robòtica |
dc.contributor.group | Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents |
dc.date.end | 2007-11-02 |
dc.date.start | 2007-10-29 |
dc.description.peerreviewed | Peer Reviewed |
dc.subject.inspec | Classificació INSPEC::Pattern recognition::Computer vision |
dc.subject.inspec | Classificació INSPEC::Automation::Robots |
dc.rights.access | Open Access |
dc.relation.projectidctt | J-0929 |
dc.relation.projectidctt | E-00938 |
local.personalitzacitacio | true |