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A Visual Front-end for Simultaneous Localization and Mapping

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7 Author(s)
L. Goncalves ; Evolution Robotics, Inc. Pasadena, California, USA Email: luis@evolution.com ; E. di Bernardo ; D. Benson ; M. Svedman
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We describe a method of generating and utilizing visual landmarks that is well suited for SLAM applications. The landmarks created are highly distinctive and reliably detected, virtually eliminating the data association problem present in other landmark schemes. Upon subsequent detections of a landmark, a 3-D pose can be estimated. The scheme requires a single camera.

Published in:

Proceedings of the 2005 IEEE International Conference on Robotics and Automation

Date of Conference:

18-22 April 2005