QUT ePrints

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.

View at publisher

Abstract

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.

Impact and interest:

55 citations in Scopus
Search Google Scholar™
36 citations in Web of Science®

Citation countsare sourced monthly from Scopus and Web of Science® citation databases.

These databases contain citations from different subsets of available publications and different time periods and thus the citation count from each is usually different. Some works are not in either database and no count is displayed. Scopus includes citations from articles published in 1996 onwards, and Web of Science® generally from 1980 onwards.

Citations counts from the Google Scholar™ indexing service can be viewed at the linked Google Scholar™ search.

ID Code: 44805
Item Type: Journal Article
Keywords: Mobile robotics, navigation, mapping, SLAM, laser, vision, stereo, visual odometry, semantic labeling, systems, topological navigation, loop closure, FABMAP
DOI: 10.1177/0278364909341483
ISSN: 0278-3649
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

Export: EndNote | Dublin Core | BibTeX

Repository Staff Only: item control page