Sequential localisation and map-building in computer vision and robotics

DOI10.1007/3-540-45296-6_15MaRDI QIDQ2763473zbMATH OpenFDO

Authors Andrew J. Davison, Nobuyuki Kita

Publication date 15 January 2002

Published in Lecture Notes in Computer Science (Search for Journal in Brave)

Full work available at URL http://link.springer.de/link/service/series/0558/bibs/2018/20180218

Mathematics Subject Classification ID

Computing methodologies for image processing (68U10) Computing methodologies and applications (68U99)

Review text

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].

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Cited in

(5)

• Constructive observer design for visual simultaneous localisation and mapping
• A framework for generic state estimation in computer vision applications
• Simultaneous planning, localization, and mapping in a camera sensor network
• Visual simultaneous localisation and map-building supported by structured landmarks
• Local Frame Junction Trees in SLAM

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