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Feature matching is at the base of many computer vision problems, such as object recognition or structure from motion. Current methods rely on costly descriptors for detection and matching. In this paper, we propose a very fast binary descriptor based on BRIEF, called ORB, which is rotation invariant and resistant to noise. We demonstrate through(More)
Robotic systems are becoming smaller, lower power, and cheaper, enabling their application in areas not previously considered. This is true of vision systems as well. SRI's Small Vision Module (SVM) is a compact, inexpensive realtime device for computing dense stereo range images, which are a fundamental measurement supporting a wide range of computer(More)
Many successful indoor mapping techniques employ frame-to-frame matching of laser scans to produce detailed local maps as well as the closing of large loops. In this paper, we propose a framework for applying the same techniques to visual imagery. We match visual frames with large numbers of point features, using classic bundle adjustment techniques from(More)
This paper describes a navigation system that allowed a robot to complete 26.2 miles of autonomous navigation in a real office environment. We present the methods required to achieve this level of robustness, including an efficient Voxel-based 3D mapping algorithm that explicitly models unknown space. We also provide an open-source implementation of the(More)
Intelligent agents embedded in a dynamic, uncertain environment should incorporate capabilities for both planned and reactive behavior. Many current solutions to this dual need focus on one aspect, and treat the other one as secondary. We propose an approach for integrating planning and control based on behavior schemas, which link physical movements to(More)