Augmenting RatSLAM using FAB-MAP-based visual data association

Maddern, Will, Glover, Arren, Milford, Michael and Wyeth, Gordon (2009). Augmenting RatSLAM using FAB-MAP-based visual data association. In: Steve Scheding, Australasian Conference on Robotics and Automation 2009 (ACRA 09). Proceedings. ACRA’09: 2009 Australasian Conference on Robotics and Automation, Sydney, NSW, Australia, (118-125). 2-4 December, 2009.

Author Maddern, Will
Glover, Arren
Milford, Michael
Wyeth, Gordon
Title of paper Augmenting RatSLAM using FAB-MAP-based visual data association
Conference name ACRA’09: 2009 Australasian Conference on Robotics and Automation
Conference location Sydney, NSW, Australia
Conference dates 2-4 December, 2009
Proceedings title Australasian Conference on Robotics and Automation 2009 (ACRA 09). Proceedings
Journal name Proceedings of the 2009 Australasian Conference on Robotics and Automation, ACRA 2009
Place of Publication Red Hook, NY, USA
Publisher Curran Associates
Publication Year 2009
Sub-type Fully published paper
Open Access Status
ISBN 9781632660305
9780980740400
Editor Steve Scheding
Start page 118
End page 125
Total pages 8
Language eng
Formatted Abstract/Summary
This paper investigates the use of the FAB-MAP appearance-only SLAM algorithm as a method for performing visual data association for RatSLAM, a semi-metric full SLAM system. While both systems have shown the ability to map large (60-70km) outdoor locations of approximately the same scale, for either larger areas or across longer time periods both algorithms encounter difficulties with false positive matches. By combining these algorithms using a mapping between appearance and pose space, both false positives and false negatives generated by FAB-MAP are significantly reduced during outdoor mapping using a forward-facing camera. The hybrid FAB-MAP-RatSLAM system developed demonstrates the potential for successful SLAM over large periods of time.
Subjects 1702 Cognitive Sciences
2207 Control and Systems Engineering
Q-Index Code E1
Q-Index Status Provisional Code
Institutional Status UQ

 
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