Continuous appearance-based localisation and mapping

Maddern, William Paul (2014) Continuous appearance-based localisation and mapping. PhD by Publication, Queensland University of Technology.


This thesis presents a novel approach to mobile robot navigation using visual information towards the goal of long-term autonomy. A novel concept of a continuous appearance-based trajectory is proposed in order to solve the limitations of previous robot navigation systems, and two new algorithms for mobile robots, CAT-SLAM and CAT-Graph, are presented and evaluated. These algorithms yield performance exceeding state-of-the-art methods on public benchmark datasets and large-scale real-world environments, and will help enable widespread use of mobile robots in everyday applications.

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407 since deposited on 09 Jan 2014
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ID Code: 65841
Item Type: QUT Thesis (PhD by Publication)
Supervisor: Wyeth, Gordon, Milford, Michael, & Corke, Peter
Keywords: Localisation, Mapping, SLAM, Navigation, Vision, Appearance-based, Long-term autonomy, Persistent SLAM
Divisions: Current > QUT Faculties and Divisions > Science & Engineering Faculty
Institution: Queensland University of Technology
Deposited On: 09 Jan 2014 04:51
Last Modified: 21 Jun 2017 14:48

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