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Abstract Many successful indoor mapping techniques employ frame-to-frame matching of laser scans to produce
 

Summary: Abstract Many successful indoor mapping techniques
employ frame-to-frame matching of laser scans to produce
detailed local maps, as well as closing large loops. In this
paper, we propose a framework for applying the same
techniques to visual imagery, matching visual frames with
large numbers of point features. The relationship between
frames is kept as a nonlinear measurement, and can be used
to solve large loop closures quickly. Both monocular
(bearing-only) and binocular vision can be used to generate
matches. Other advantages of our system are that no special
landmark initialization is required, and large loops can be
solved very quickly. 1
I. INTRODUCTION
Visual motion registration is a key technology for many
applications, since the sensors are inexpensive and
provide high information bandwidth. In particular, we are
interested in using it to construct maps and maintain
precise position estimates for a mobile robot platform
indoors and outdoors, in extended environments over
loops of > 100m, and in the absence of global signals such

  

Source: Agrawal, Motilal - Artificial Intelligence Center, SRI International
Konolige, Kurt - SRI International

 

Collections: Computer Technologies and Information Sciences