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Type: Conference paper
Title: An image-to-map loop closing method for monocular SLAM
Author: Williams, B.
Cummins, M.
Neira, J.
Newman, P.
Reid, I.
Tardos, J.
Citation: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008, (IROS 2008) / pp.2053-2059
Publisher: IEEE
Publisher Place: USA
Issue Date: 2008
ISBN: 9781424420575
Conference Name: IEEE/RSJ International Conference on Intelligent Robots and Systems (2008 : Nice, France)
Editor: Chatila, R.
Kelly, A.
Merlet, J.P.
Statement of
Brian Williams, Mark Cummins, José Neira, Paul Newman, Ian Reid, and Juan Tardós
Abstract: In this paper we present a loop closure method for a handheld single-camera SLAM system based on our previous work on relocalization. By finding correspondences between the current image and the map, our system is able to reliably detect loop closures. We compare our algorithm to existing techniques for loop closure in single-camera SLAM based on both image-to-image and map-to-map correspondences and discuss both the reliability and suitability of each algorithm in the context of monocular SLAM.
Rights: ©2008 IEEE
DOI: 10.1109/IROS.2008.4650996
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Appears in Collections:Aurora harvest 4
Computer Science publications

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