The DOI matches its Crossref record; 12 of the 12 references it cites were found in a registry or an index.
View-based Maps
Open accessAbstract
Robotic systems that can create and use visual maps in real-time have obvious advantages in many applications, from automatic driving to mobile manipulation in the home. In this paper we describe a mapping system based on retaining stereo views of the environment that are collected as the robot moves. Connections among the views are formed by consistent geometric matching of their features. Out-of-sequence matching is the key problem: how to find connections from the current view to other corresponding views in the map. Our approach uses a vocabulary tree to propose candidate views, and a strong geometric filter to eliminate false positives: essentially, the robot continually re-recognizes where it is. We present experiments showing the utility of the approach on video data, including incremental map building in large indoor and outdoor environments, map building without localization, and re-localization when lost.
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Cites
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
Multiple View Geometry in Computer Vision
Hartley, R., & Zisserman, A. (2004) · doi:10.1017/cbo9780511811685 · Cited by 21,070
SURF: Speeded Up Robust Features
Bay, H., Tuytelaars, T., & Van Gool, L. (2006) · Lecture Notes in Computer Science · doi:10.1007/11744023_32 · Cited by 14,955
Speeded-Up Robust Features (SURF)
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A performance evaluation of local descriptors
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Video Google: a text retrieval approach to object matching in videos
Sivic, & Zisserman (2003) · Proceedings Ninth IEEE International Conference on Computer Vision · doi:10.1109/iccv.2003.1238663 · Cited by 6,367
Machine Learning for High-Speed Corner Detection
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Parallel Tracking and Mapping for Small AR Workspaces
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MonoSLAM: Real-time single camera SLAM
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Hamming Embedding and Weak Geometric Consistency for Large Scale Image Search
Jegou, H., Douze, M., & Schmid, C. (2008) · Lecture Notes in Computer Science · doi:10.1007/978-3-540-88682-2_24 · Cited by 1,901 · cited 4×
“For fast lookup of similar places, we rely on the hierarchica l vocabulary trees proposed by Nistér and Stewénius [26]; other methods include approximate nearest neighbor [30] an d various methods for improving the response or efficiency of the tree [8, 15, 16].”
MethodInfluential
Cited by
Bags of Binary Words for Fast Place Recognition in Image Sequences
Galvez-López, D., & Tardos, J. D. (2012) · IEEE Transactions on Robotics · doi:10.1109/tro.2012.2197158 · Cited by 1,913
Target-driven visual navigation in indoor scenes using deep reinforcement learning
Zhu, Y., Mottaghi, R., Kolve, E., Lim, J. J., Gupta, A., Fei-Fei, L., & Farhadi, A. (2017) · 2017 IEEE International Conference on Robotics and Automation (ICRA) · doi:10.1109/icra.2017.7989381 · Cited by 1,533
A Tutorial on Graph-Based SLAM
Grisetti, G., Kummerle, R., Stachniss, C., & Burgard, W. (2010) · IEEE Intelligent Transportation Systems Magazine · doi:10.1109/mits.2010.939925 · Cited by 1,345
Visual Place Recognition: A Survey
Lowry, S., Sünderhauf, N., Newman, P., Leonard, J. J., Cox, D., Corke, P., & Milford, M. J. (2016) · IEEE Transactions on Robotics · doi:10.1109/tro.2015.2496823 · Cited by 1,079
Visual simultaneous localization and mapping: a survey
Fuentes-Pacheco, J., Ruiz-Ascencio, J., & Rendón-Mancha, J. M. (2015) · Artificial Intelligence Review · doi:10.1007/s10462-012-9365-8 · Cited by 883
Metadata
- Authors
- Konolige, K., Bowman, J., Chen, J. D., Mihelich, P., Calonder, M., Lepetit, V., & Fua, P.
- Venue
- The International Journal of Robotics Research
- Publisher
- SAGE Publications
- Published
- 2010-05-06
- Volume
- 29
- Issue
- 8
- Pages
- 941-957
- ISSN
- 0278-3649 (ISSN-L)
- 1741-3176
- OpenAlex
- W1997645979
- Cited by
- 227
- References
- 12
- FWCI
- 70.75
- Type
- journal article
- Language
- en
- Open access
- green
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- Konolige, K., Bowman, J., Chen, J. D., Mihelich, P., Calonder, M., Lepetit, V., & Fua, P. (2010). View-based Maps. The International Journal of Robotics Research. https://doi.org/10.1177/0278364910370376
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