Efficient View-Based SLAM Using Visual Loop Closures
- 14 October 2008
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Robotics
- Vol. 24 (5) , 1002-1014
- https://doi.org/10.1109/tro.2008.2004888
Abstract
This paper presents a simultaneous localization and mapping algorithm suitable for large-scale visual navigation. The estimation process is based on the viewpoint augmented navigation (VAN) framework using an extended information filter. Cholesky factorization modifications are used to maintain a factor of the VAN information matrix, enabling efficient recovery of state estimates and covariances. The algorithm is demonstrated using data acquired by an autonomous underwater vehicle performing a visual survey of sponge beds. Loop-closure observations produced by a stereo vision system are used to correct the estimated vehicle trajectory produced by dead reckoning sensors.Keywords
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