The DOI matches its Crossref record; 2 of the 2 references it cites were found in a registry or an index.
Vision-based mobile robot localization and mapping using scale-invariant features
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 algorithm is described which uses scale-invariant image features as landmarks in unmodified dynamic environments. These 3D landmarks are localized and robot ego-motion is estimated by matching them, taking into account the feature viewpoint variation. With our Triclops stereo vision system, experiments show that these features are robustly matched between views, 3D landmarks are tracked, robot pose is estimated and a 3D map is built.
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Citations
Cites
Object recognition from local scale-invariant features
Lowe, D. G. (1999) · Proceedings of the Seventh IEEE International Conference on Computer Vision · doi:10.1109/iccv.1999.790410 · Cited by 16,472
Self-citationCONDENSATION—Conditional Density Propagation for Visual Tracking
Isard, M., & Blake, A. (1998) · International Journal of Computer Vision · doi:10.1023/a:1008078328650 · Cited by 4,886
Cited by
Distinctive Image Features from Scale-Invariant Keypoints
Lowe, D. G. (2004) · International Journal of Computer Vision · doi:10.1023/b:visi.0000029664.99615.94 · Cited by 55,589
Self-citationCENTRIST: A Visual Descriptor for Scene Categorization
Wu, J., & Rehg, J. M. (2011) · IEEE Transactions on Pattern Analysis and Machine Intelligence · doi:10.1109/tpami.2010.224 · Cited by 709
Kim, S., & Lee, J. (2012) · Pattern Recognition · doi:10.1016/j.patcog.2011.06.009 · Cited by 255
Soatto, S. (2011) · arXiv · doi:10.48550/arxiv.1110.2053 · Cited by 40
Metadata
- Authors
- Se, S., Lowe, D., & Little, J.
- Venue
- Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164)
- Publisher
- IEEE
- Published
- 2002-11-13
- Volume
- 2
- Pages
- 2051-2058
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2096680898
- Cited by
- 476
- References
- 2
- FWCI
- 32.28
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Se, S., Lowe, D., & Little, J. (2002). Vision-based mobile robot localization and mapping using scale-invariant features. Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164). https://doi.org/10.1109/robot.2001.932909
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