Towards lifelong visual maps

The typical SLAM mapping system assumes a static environment and constructs a map that is then used without regard for ongoing changes. Most SLAM systems, such as FastSLAM, also require a single connected run to create a map. In this paper we present a system of visual mapping, using only input from...

Full description

Saved in:
Bibliographic Details
Published in2009 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 1156 - 1163
Main Authors Konolige, K., Bowman, J.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2009
Subjects
Cameras
Extraterrestrial measurements
Filters
Intelligent robots
Layout
Mobile robots
Robot sensing systems
Robustness
Simultaneous localization and mapping
USA Councils
Online AccessGet full text
ISBN9781424438037
1424438039
ISSN2153-0858
DOI10.1109/IROS.2009.5354121

Cover

More Information
Summary:The typical SLAM mapping system assumes a static environment and constructs a map that is then used without regard for ongoing changes. Most SLAM systems, such as FastSLAM, also require a single connected run to create a map. In this paper we present a system of visual mapping, using only input from a stereo camera, that continually updates an optimized metric map in large indoor spaces with movable objects: people, furniture, partitions, etc. The system can be stopped and restarted at arbitrary disconnected points, is robust to occlusion and localization failures, and efficiently maintains alternative views of a dynamic environment. It operates completely online at a 30 Hz frame rate.
ISBN:9781424438037
1424438039
ISSN:2153-0858
DOI:10.1109/IROS.2009.5354121