You are in : Home » Results & submissions » Select UOA » 11 - Computer Science and Informatics » View submission: University of Edinburgh » Outputs » Detail

Output details

11 - Computer Science and Informatics

University of Edinburgh

Return to search Previous output Next output

Output 0 of 0 in the submission

Output title

Temporally scalable visual SLAM using a reduced pose graph

Type

E - Conference contribution

DOI

10.1109/ICRA.2013.6630556

Name of conference/published proceedings

Robotics and Automation (ICRA), 2013 IEEE International Conference on

Volume number

Issue number

First page of article

ISSN of proceedings

Year of publication

2013

URL

http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6630556

Number of additional authors

Additional information

<02> Originality: Outlines a complete system for Visual SLAM on a much larger scale than previously reported.

Significance: Illustrates that visually-based approaches to mobile robotics within natural environments are practical and closer to maturity. Demonstrated on a large scale (50km long), which exposed and proposed consistent solutions to problems of scale: principled reduction of large-scale pose graphs and the demonstration of the leading computational constraints of the problem. Nominated (4 of 2000 submissions) for ICRA 2013 best student paper.

Rigour: Extensive ground-truth evaluation of the experimental results to provide a benchmark for future comparison (published separately by IJRR).

Interdisciplinary

Cross-referral requested

Research group

E - Institute of Perception, Action & Behaviour

Citation count

Proposed double-weighted

Double-weighted statement

Reserve for a double-weighted output

Non-English

English abstract