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Publication Details

Frame-Frame Matching for Realtime Consistent Visual Mapping

by Konolige, K. and Agrawal, M.

Proceedings of IEEE International Conference on Robotics and Automation (ICRA), April 2007.

Abstract

Many successful indoor mapping techniques employ frame-to-frame matching of laser scans to produce detailed local maps, as well as closing large loops. In this paper, we propose a framework for applying the same techniques to visual imagery, matching visual frames with large numbers of point features. The relationship between frames is kept as a nonlinear measurement, and can be used to solve large loop closures quickly. Both monocular (bearing-only) and binocular vision can be used to generate matches. Other advantages of our system are that no special landmark initialization is required, and large loops can be solved very quickly.

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AIC Personnel

Name Title E-mail
Agrawal, Motilal Computer Scientist
Konolige, Kurt G Alumnus

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