Mobile Robot Localization and Mapping with Uncertainty using Scale-Invariant Visual Landmarks

@article{Se2002MobileRL,
  title={Mobile Robot Localization and Mapping with Uncertainty using Scale-Invariant Visual Landmarks},
  author={Stephen Se and David G. Lowe and James J. Little},
  journal={I. J. Robotics Res.},
  year={2002},
  volume={21},
  pages={735-760}
}
A key component of a mobile robot system is the ability to localize itself accurately and, simultaneously, to build a map of the environment. Most of the existing algorithms are based on laser range finders, sonar sensors or artificial landmarks. In this paper, we describe a vision-based mobile robot localization and mapping algorithm, which uses scale-invariant image features as natural landmarks in unmodified environments. The invariance of these features to image translation, scaling and… CONTINUE READING
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