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Attentional landmark selection for visual SLAM
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0002-1170-7162
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.
2006 (English)In: 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-12, NEW YORK: IEEE , 2006, 2582-2587 p.Conference paper, Published paper (Refereed)
Abstract [en]

In this paper, we introduce a new method to automatically detect useful landmarks for visual SLAM. A biologically motivated attention system detects regions of interest which "pop-out" automatically due to strong contrasts and the uniqueness of features. This property makes the regions easily redetectable and thus they are useful candidates for visual landmarks. Matching based on scene prediction and feature similarity allows not only short-term tracking of the regions, but also redetection in loop closing situations. The paper demonstrates how regions are determined and how they are matched reliably. Various experimental results on real-world data show that the landmarks are useful with respect to be tracked in consecutive frames and to enable closing loops.

Place, publisher, year, edition, pages
NEW YORK: IEEE , 2006. 2582-2587 p.
Keyword [en]
Feature extraction, Reliability, Tracking (position)
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-42059DOI: 10.1109/IROS.2006.281711ISI: 000245452402115Scopus ID: 2-s2.0-34250676831ISBN: 978-1-4244-0258-8 (print)OAI: oai:DiVA.org:kth-42059DiVA: diva2:446115
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems. Beijing, PEOPLES R CHINA Date: OCT 09-13, 2006
Note

QC 20111006

Available from: 2011-10-06 Created: 2011-10-05 Last updated: 2016-12-21Bibliographically approved

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Jensfelt, Patric

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CiteExportLink to record
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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
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