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Cited by 316

The DOI matches its Crossref record; 24 of the 24 references it cites were found in a registry or an index.

Outdoor SLAM using visual appearance and laser ranging

Newman, P., Cole, D., Ho, K.·2006·Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.
DOI 10.1109/robot.2006.1641869
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Abstract

This paper describes a 3D SLAM system using information from an actuated laser scanner and camera installed on a mobile robot. The laser samples the local geometry of the environment and is used to incrementally build a 3D point-cloud map of the workspace. Sequences of images from the camera are used to detect loop closure events (without reference to the internal estimates of vehicle location) using a novel appearance-based retrieval system. The loop closure detection is robust to repetitive visual structure and provides a probabilistic measure of confidence. The images suggesting loop closure are then further processed with their corresponding local laser scans to yield putative Euclidean image-image transformations. We show how naive application of this transformation to effect the loop closure can lead to catastrophic linearization errors and go on to describe a way in which gross, pre-loop closing errors can be successfully annulled. We demonstrate our system working in a challenging, outdoor setting containing substantial loops and beguiling, gently curving traversals. The results are overlaid on an aerial image to provide a ground truth comparison with the estimated map. The paper concludes with an extension into the multi-robot domain in which 3D maps resulting from distinct SLAM sessions (no common reference frame) are combined without recourse to mutual observation

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Metadata

Authors
Newman, P., Cole, D., & Ho, K.
Venue
Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.
Publisher
IEEE
Published
2006-07-10
Pages
1180-1187
ISSN
1050-4729 (ISSN-L)
DOI
10.1109/robot.2006.1641869
OpenAlex
W2133759223
Cited by
316
References
24
FWCI
70.08
Type
conference paper
Language
en
Open access
closed

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CoChat. (2026). Citation check: Outdoor SLAM using visual appearance and laser ranging. https://app.cochat.ai/papers/10.1109/robot.2006.1641869
The paper
Newman, P., Cole, D., & Ho, K. (2006). Outdoor SLAM using visual appearance and laser ranging. Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006. https://doi.org/10.1109/robot.2006.1641869

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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).

Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.