The DOI matches its Crossref record; 6 of the 6 references it cites were found in a registry or an index.
Visually Navigating the RMS Titanic with SLAM Information Filters
Open accessAbstract
This paper describes a vision-based, large-area, simultaneous localization and mapping (SLAM) algorithm that respects the low-overlap imagery constraints typical of underwater vehicles while exploiting the inertial sensor information that is routinely available on such platforms.We present a novel strategy for efficiently accessing and maintaining consistent covariance bounds within a SLAM information filter, thereby greatly increasing the reliability of data association.The technique is based upon solving a sparse system of linear equations coupled with the application of constant-time Kalman updates.The method is shown to produce consistent covariance estimates suitable for robot planning and data association.Real-world results are presented for a vision-based 6-DOF SLAM implementation using data from a recent ROV survey of the wreck of the RMS Titanic.
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Cites
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A solution to the simultaneous localization and map building (SLAM) problem
Dissanayake, M. W. M. G., Newman, P., Clark, S., Durrant-Whyte, H. F., & Csorba, M. (2001) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.938381 · Cited by 2,661
Cited by
Simultaneous localization and mapping: part I
Durrant-Whyte, H., & Bailey, T. (2006) · IEEE Robotics & Automation Magazine · doi:10.1109/mra.2006.1638022 · Cited by 4,199
MonoSLAM: Real-time single camera SLAM
Davison, A. J., Reid, I. D., Molton, N. D., & Stasse, O. (2007) · IEEE Transactions on Pattern Analysis and Machine Intelligence · doi:10.1109/tpami.2007.1049 · Cited by 3,959
Simultaneous localization and mapping (SLAM): part II
Bailey, T., & Durrant-Whyte, H. (2006) · IEEE Robotics & Automation Magazine · doi:10.1109/mra.2006.1678144 · Cited by 2,554
A Multi-State Constraint Kalman Filter for Vision-aided Inertial Navigation
Mourikis, A. I., & Roumeliotis, S. I. (2007) · Proceedings 2007 IEEE International Conference on Robotics and Automation · doi:10.1109/robot.2007.364024 · Cited by 1,951
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
Self-citationiSAM: Incremental Smoothing and Mapping
Kaess, M., Ranganathan, A., & Dellaert, F. (2008) · IEEE Transactions on Robotics · doi:10.1109/tro.2008.2006706 · Cited by 1,076
Using laser range data for 3D SLAM in outdoor environments
Cole, D. M., & Newman, P. M. (2006) · Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006. · doi:10.1109/robot.2006.1641929 · Cited by 313
Sliding window filter with application to planetary landing
Sibley, G., Matthies, L., & Sukhatme, G. (2010) · Journal of Field Robotics · doi:10.1002/rob.20360 · Cited by 259
Imaging sonar-aided navigation for autonomous underwater harbor surveillance
Johannsson, H., Kaess, M., Englot, B., Hover, F., & Leonard, J. (2010) · 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems · doi:10.1109/iros.2010.5650831 · Cited by 193
Self-citationAdaptive relative bundle adjustment
Sibley, G., Mei, C., Reid, I., & Newman, P. (2009) · Robotics: Science and Systems V · doi:10.15607/rss.2009.v.023 · Cited by 139
Metadata
- Authors
- Eustice, R., Singh, H., Leonard, J., Walter, M., & Ballard, R.
- Venue
- Robotics: Science and Systems I
- Published
- 2005-06-08
- OpenAlex
- W1536303072
- Cited by
- 188
- References
- 6
- FWCI
- 33.58
- Type
- conference paper
- Language
- en
- Open access
- gold
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