Frame-Frame Matching for Realtime Consistent Visual Mapping

Kurt Konolige; Motilal Agrawal

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Paper

Frame-Frame Matching for Realtime Consistent Visual Mapping

In Robot Vision - Volume 0VISAPP, 13-26, 2007 , Barcelona, Spain

Authors: Kurt Konolige and Motilal Agrawal

Affiliation: Artificial Intelligence Center, SRI International, United States

Abstract: Many successful indoor mapping techniques employ frame-to-frame matching of laser scans to produce detailed local maps, as well as closing large loops. In this paper, we propose a framework for applying the same techniques to visual imagery, matching visual frames with large numbers of point features. The relationship between frames is kept as a nonlinear measurement, and can be used to solve large loop closures quickly. Both monocular (bearing-only) and binocular vision can be used to generate matches. Other advantages of our system are that no special landmark initialization is required, and large loops can be solved very quickly.

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Paper citation in several formats:

Konolige, K. and Agrawal, M. (2007). Frame-Frame Matching for Realtime Consistent Visual Mapping. In Robot Vision (VISAPP 2007) - Robot Vision; ISBN 978-972-8865-76-4, SciTePress, pages 13-26. DOI: 10.5220/0002068800130026

@conference{robot vision07,
author={Kurt Konolige. and Motilal Agrawal.},
title={Frame-Frame Matching for Realtime Consistent Visual Mapping},
booktitle={Robot Vision (VISAPP 2007) - Robot Vision},
year={2007},
pages={13-26},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002068800130026},
isbn={978-972-8865-76-4},
}

TY - CONF

JO - Robot Vision (VISAPP 2007) - Robot Vision
TI - Frame-Frame Matching for Realtime Consistent Visual Mapping
SN - 978-972-8865-76-4
AU - Konolige, K.
AU - Agrawal, M.
PY - 2007
SP - 13
EP - 26
DO - 10.5220/0002068800130026
PB - SciTePress