Application of SLAM outdoors is challenged by complexity, handling of non-linearities and flexible integration of a diverse set of features. A graphical approach to SLAM is introduced that enables flexible data-association. ...

Simultaneous localization and mapping (SLAM) is an important research area in robotics. Lately, systems that use a single bearing-only sensors have received significant attention and the use of visual sensors have been ...

In this paper, a new feature representation for simultaneous localization and mapping (SLAM) is discussed. The representation addresses feature symmetries and constraints explicitly to make the basic model numerically ...

We present an implementation of Simultaneous Localization and Mapping (SLAM) that uses infrared (IR) camera images collected at 10 Hz from a Packbot robot. The Packbot has a number of challenging characteristics with ...

Simultaneous Localization and Mapping (SLAM) suffers from a quadratic space and time complexity per update step. Recent advancements have been made in approximating the posterior by forcing the information matrix to ...

Scan-matching based on data from a laser scanner is frequently used for mapping and localization. This paper presents an scan-matching approach based instead on visual information from a stereo system. The Scale Invariant ...

In this paper, we propose a new, hierarchical approach to landmark selection for simultaneous robot localization and mapping based on visual sensors: a biologically motivated attention system finds salient regions of ...