Mapping a suburb with a single camera using a biologically inspired SLAM system

Milford, M.J. and Wyeth, G.F. (2008) Mapping a suburb with a single camera using a biologically inspired SLAM system. IEEE Transactions on Robotics, 24 5: 1038-1053. doi:10.1109/TRO.2008.2004520

Author Milford, M.J.
Wyeth, G.F.
Title Mapping a suburb with a single camera using a biologically inspired SLAM system
Journal name IEEE Transactions on Robotics   Check publisher's open access policy
ISSN 1552-3098
Publication date 2008-07
Year available 2008
Sub-type Article (original research)
DOI 10.1109/TRO.2008.2004520
Volume 24
Issue 5
Start page 1038
End page 1053
Total pages 16
Editor J. Neira
A. Davison
J. Leonard
Place of publication Piscataway, N.J., U.S.A.
Publisher IEEE
Collection year 2009
Language eng
Subject C1
080101 Adaptive Agents and Intelligent Robotics
970108 Expanding Knowledge in the Information and Computing Sciences
Abstract This paper describes a biologically inspired approach to vision-only simultaneous localization and mapping (SLAM) on ground-based platforms. The core SLAM system, dubbed RatSLAM, is based on computational models of the rodent hippocampus, and is coupled with a lightweight vision system that provides odometry and appearance information. RatSLAM builds a map in an online manner, driving loop closure and relocalization through sequences of familiar visual scenes. Visual ambiguity is managed by maintaining multiple competing vehicle pose estimates, while cumulative errors in odometry are corrected after loop closure by a map correction algorithm. We demonstrate the mapping performance of the system on a 66 km car journey through a complex suburban road network. Using only a web camera operating at 10 Hz, RatSLAM generates a coherent map of the entire environment at real-time speed, correctly closing more than 51 loops of up to 5 km in length.
Keyword SLAM (robots)
mobile robots
pose estimation
robot vision
Q-Index Code C1
Q-Index Status Confirmed Code

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Created: Fri, 10 Apr 2009, 16:56:50 EST by Donna Clark on behalf of School of Information Technol and Elec Engineering