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The vSLAM Algorithm for Robust Localization and Mapping

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6 Author(s)
N. Karlsson ; Evolution Robotics, Inc. Pasadena, California, USA Email: ; E. di Bernardo ; J. Ostrowski ; L. Goncalves
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This paper presents the Visual Simultaneous Localization and Mapping (vSLAMTM) algorithm, a novel algorithm for simultaneous localization and mapping (SLAM). The algorithm is vision-and odometry-based, and enables low-cost navigation in cluttered and populated environments. No initial map is required, and it satisfactorily handles dynamic changes in the environment, for example, lighting changes, moving objects and/or people. Typically, vSLAM recovers quickly from dramatic disturbances, such as “kidnapping”.

Published in:

Proceedings of the 2005 IEEE International Conference on Robotics and Automation

Date of Conference:

18-22 April 2005