Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Vision SLAM in the Measurement Subspace
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. (CAS)ORCID iD: 0000-0002-7796-1438
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0002-1170-7162
KTH, School of Computer Science and Communication (CSC), Numerical Analysis and Computer Science, NADA. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
2005 (English)In: 2005 IEEE International Conference on Robotics and Automation (ICRA), Vols 1-4  Book Series, 2005, 30-35 p.Conference paper, Published paper (Refereed)
Abstract [en]

In this paper we describe an approach to feature representation for simultaneous localization and mapping, SLAM. It is a general representation for features that addresses symmetries and constraints in the feature coordinates. Furthermore, the representation allows for the features to be added to the map with partial initialization. This is an important property when using oriented vision features where angle information can be used before their full pose is known. The number of the dimensions for a feature can grow with time as more information is acquired. At the same time as the special properties of each type of feature are accounted for, the commonalities of all map features are also exploited to allow SLAM algorithms to be interchanged as well as choice of sensors and features. In other words the SLAM implementation need not be changed at all when changing sensors and features and vice versa. Experimental results both with vision and range data and combinations thereof are presented.

Place, publisher, year, edition, pages
2005. 30-35 p.
Series
IEEE International Conference on Robotics and Automation, ISSN 1050-4729
Keyword [en]
vision SLAM, representation, features, symmetries, constraints
National Category
Engineering and Technology Robotics
Identifiers
URN: urn:nbn:se:kth:diva-38225DOI: 10.1109/ROBOT.2005.1570092ISI: 000235460100006Scopus ID: 2-s2.0-33745825770ISBN: 0-7803-8914-X (print)OAI: oai:DiVA.org:kth-38225DiVA: diva2:436288
Conference
IEEE International Conference on Robotics and Automation (ICRA) Location: Barcelona, SPAIN Date: APR 18-22, 2005
Note

QC 20121116

Available from: 2012-11-16 Created: 2011-08-23 Last updated: 2012-11-16Bibliographically approved

Open Access in DiVA

Vision SLAM in the Measurement Subspace(235 kB)243 downloads
File information
File name FULLTEXT01.pdfFile size 235 kBChecksum SHA-512
8768b1f2fd6fc06bcdbdd422b925ce14ed1a23a9ef809c5c3b3dda153c69c22fb21c0ebaf5c911ba66bdcc86535e5b9362ca92d4a4c2127cbd14ca744c83d055
Type fulltextMimetype application/pdf

Other links

Publisher's full textScopusVision SLAM in the Measurement SubspaceIEEEXplore

Authority records BETA

Folkesson, JohnJensfelt, Patric

Search in DiVA

By author/editor
Folkesson, JohnJensfelt, PatricChristensen, Henrik
By organisation
Computer Vision and Active Perception, CVAPCentre for Autonomous Systems, CASNumerical Analysis and Computer Science, NADA
Engineering and TechnologyRobotics

Search outside of DiVA

GoogleGoogle Scholar
Total: 243 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

doi
isbn
urn-nbn

Altmetric score

doi
isbn
urn-nbn
Total: 58 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf