The vSLAM algorithm for robust localization and mapping (2005)
| Venue: | In Proc. of Int. Conf. on Robotics and Automation (ICRA |
| Citations: | 32 - 4 self |
BibTeX
@INPROCEEDINGS{Karlsson05thevslam,
author = {Niklas Karlsson and Enrico Di Bernardo and Jim Ostrowski and Luis Goncalves and Paolo Pirjanian and Mario E. Munich},
title = {The vSLAM algorithm for robust localization and mapping},
booktitle = {In Proc. of Int. Conf. on Robotics and Automation (ICRA},
year = {2005},
pages = {24--29}
}
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Abstract
Abstract — This paper presents the Visual Simultaneous Localization and Mapping (vSLAM TM) algorithm, a novel algorithm for simultaneous localization and mapping (SLAM). The algorithm is vision- and odometry-based, and enables lowcost navigation in cluttered and populated environments. No initial map is required, and it satisfactorily handles dynamic changes in the environment, for example, lighting changes, moving objects and/or people. Typically, vSLAM recovers quickly from dramatic disturbances, such as “kidnapping”.
Citations
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