Navigating, recognizing and describing urban spaces with vision and lasers
Newman, Paul , Sibley, Gabe , Smith, Mike , Cummins, Mark , Harrison, Alastair , Mei, Chris , Posner, Ingmar , Shade, Robbie , Schroeter, Derik , Murphy, Elizabeth, Churchill, Winston , Cole, Dave , & Reid, Ian (2009) Navigating, recognizing and describing urban spaces with vision and lasers. International Journal of Robotics Research, 28(11 - 1), pp. 1406-1433.
In this paper we describe a body of work aimed at extending the reach of mobile navigation and mapping. We describe how running topological and metric mapping and pose estimation processes concurrently, using vision and laser ranging, has produced a full six-degree-of-freedom outdoor navigation system. It is capable of producing intricate three-dimensional maps over many kilometers and in real time. We consider issues concerning the intrinsic quality of the built maps and describe our progress towards adding semantic labels to maps via scene de-construction and labeling. We show how our choices of representation, inference methods and use of both topological and metric techniques naturally allow us to fuse maps built from multiple sessions with no need for manual frame alignment or data association.
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|Item Type:||Journal Article|
|Keywords:||Mobile robotics, navigation, mapping, SLAM, laser, vision, stereo, visual odometry, semantic labeling, systems, topological navigation, loop closure, FABMAP|
|Subjects:||Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100)|
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600)
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > MECHANICAL ENGINEERING (091300)
|Deposited On:||25 Aug 2011 08:14|
|Last Modified:||01 Mar 2012 00:35|
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