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Sequential Localisation and Map-Building in Computer Vision and Robotics

  • Andrew J. Davison
  • Nobuyuki Kita
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 2018)

Abstract

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: http://www.robots.ox.ac.uk/~ajd/

Keywords

Computer Vision Mobile Robot Motion Model Process Noise Sequential Localisation 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2001

Authors and Affiliations

  • Andrew J. Davison
    • 1
  • Nobuyuki Kita
    • 1
  1. 1.Intelligent Systems DivisionElectrotechnical LaboratoryTsukubaJapan

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