Vision-based mobile robot localization and mapping using scale-invariant features
Top Cited Papers
- 13 November 2002
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 2, 2051-2058
- https://doi.org/10.1109/robot.2001.932909
Abstract
A key component of a mobile robot system is the ability to localize itself accurately and build a map of the environment simultaneously. In this paper, a vision-based mobile robot localization and mapping al- gorithm is described which uses scale-invariant image features as landmarks in unmodied dynamic environ- ments. These 3D landmarks are localized and robot ego-motion is estimated by matching them, taking into account the feature viewpoint variation. With our Tri- clops stereo vision system, experiments show that these features are robustly matched between views, 3D land- marks are tracked, robot pose is estimated and a 3D map is built.Keywords
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