Sequential localisation and map-building in computer vision and robotics (Q2763473)

Reviewing the important problem of sequential localisation and map-building, we emphasize its genericity and in particular draw parallels between the often divided fields of computer vision and robot navigation. We compare sequential techniques with the batch methodologies currently prevalent in computer vision, and explain the additional challenges presented by real-time constraints which mean that there is still much work to be done in the sequential case, which when solved will lead to impressive and useful applications. In a detailed tutorial on map-building using first-order error propagation, particular attention is drawn to the roles of modelling and an active methodology. Finally, recognising the critical role of software in tackling a generic problem such as this, we announce the distribution of a proven and carefully designed open-source software framework which is intended for use in a wide range of robot and vision applications: \url{http://www.robots.ox.ac.uk/}. For the entire collection see [Zbl 0977.68800].