NDLI: SLAM using Visual Scan-Matching with Distinguishable 3D Points

Content Provider	IEEE Xplore Digital Library
Author	Bertolli, F. Jensfelt, P. Christensen, H.I.
Copyright Year	2006
Description	Author affiliation: Centre for Autonomous Syst., R. Inst. of Technol., Stockholm (Bertolli, F.; Jensfelt, P.; Christensen, H.I.)
Abstract	Scan-matching based on data from a laser scanner is frequently used for mapping and localization. This paper presents an scan-matching approach based instead on visual information from a stereo system. The scale invariant feature transform (SIFT) is used together with epipolar constraints to get high matching precision between the stereo images. Calculating the 3D position of the corresponding points in the world results in a visual scan where each point has a descriptor attached to it. These descriptors can be used when matching scans acquired from different positions. Just like in the work with laser based scan matching a map can be defined as a set of reference scans and their corresponding acquisition point. In essence this reduces each visual scan that can consist of hundreds of points to a single entity for which only the corresponding robot pose has to be estimated in the map. This reduces the overall complexity of the map. The SIFT descriptor attached to each of the points in the reference allows for robust matching and detection of loop closing situations. The paper presents real-world experimental results from an indoor office environment
Starting Page	4042
Ending Page	4047
File Size	769749
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.281865
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Simultaneous localization and mapping Cameras Robot vision systems Motion estimation Robot sensing systems Mobile robots Intelligent robots Robustness Buildings Sensor systems
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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