Augmenting RatSLAM using FAB-MAP-based visual data association
Maddern, William, Glover, Arren, Milford, Michael, & Wyeth, Gordon (2009) Augmenting RatSLAM using FAB-MAP-based visual data association. In Scheding, Steve (Ed.) Proceedings of Australasian Conference on Robotics and Automation 2009, Australian Robotics and Automation Association Inc, Sydney.
This paper investigates the use of the FAB-MAP appearance-only SLAM algorithm as a method for performing visual data association for RatSLAM, a semi-metric full SLAM system. While both systems have shown the ability to map large (60-70km) outdoor locations of approximately the same scale, for either larger areas or across longer time periods both algorithms encounter difficulties with false positive matches. By combining these algorithms using a mapping between appearance and pose space, both false positives and false negatives generated by FAB-MAP are significantly reduced during outdoor mapping using a forward-facing camera. The hybrid FAB-MAP-RatSLAM system developed demonstrates the potential for successful SLAM over large periods of time.
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|Item Type:||Conference Paper|
|Subjects:||Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Adaptive Agents and Intelligent Robotics (080101)|
|Copyright Owner:||Copyright 2009 [please consult the authors]|
|Deposited On:||24 Jun 2010 13:21|
|Last Modified:||01 Mar 2012 00:14|
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