Outdoor simultaneous localisation and mapping using RatSLAM
Prasser, David , Milford, Michael, & Wyeth, Gordon (2006) Outdoor simultaneous localisation and mapping using RatSLAM. In Corke, Peter & Sukkarieh, Salah (Eds.) Field and Service Robotics : Results of the 5th International Conference, Springer Berlin Heidelbert, Port Douglas, TAS, pp. 143-154.
In this paper an existing method for indoor Simultaneous Localisation and Mapping (SLAM) is extended to operate in large outdoor environments using an omnidirectional camera as its principal external sensor. The method, RatSLAM, is based upon computational models of the area in the rat brain that maintains the rodent’s idea of its position in the world. The system uses the visual appearance of different locations to build hybrid spatial-topological maps of places it has experienced that facilitate relocalisation and path planning. A large dataset was acquired from a dynamic campus environment and used to verify the system’s ability to construct representations of the world and simultaneously use these representations to maintain localisation.
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|Item Type:||Conference Paper|
|Keywords:||SLAM, Omnidirectional vision|
|Subjects:||Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100)|
|Divisions:||Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering|
Past > Schools > School of Engineering Systems
|Copyright Owner:||© 2005 Springer Berlin Heidelbert|
|Copyright Statement:||The original publication is available at SpringerLink http://www.springerlink.com|
|Deposited On:||13 Jan 2012 08:05|
|Last Modified:||01 Mar 2012 13:32|
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