PIRF-Nav 2: Speeded-up online and incremental appearance-based SLAM in an indoor environment

@article{Tongprasit2011PIRFNav2S,
  title={PIRF-Nav 2: Speeded-up online and incremental appearance-based SLAM in an indoor environment},
  author={Noppharit Tongprasit and Aram Kawewong and Osamu Hasegawa},
  journal={2011 IEEE Workshop on Applications of Computer Vision (WACV)},
  year={2011},
  pages={145-152}
}
This paper presents a fast, online, and incremental solution for an appearance-based loop closure detection problem in an indoor environment. This problem is important in terms of the navigation of mobile robots. Appearance-based Simultaneous Localization And Mapping (SLAM) for a highly dynamic environment, called Position Invariant Robust Feature Navigation (PIRF-Nav), was first proposed by Kawewong et al. in 2010. Their results showed major improvements from other state-of-the-art methods… CONTINUE READING
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