RSLAM: A System for Large-Scale Mapping in Constant-Time Using Stereo

@article{Mei2010RSLAMAS,
  title={RSLAM: A System for Large-Scale Mapping in Constant-Time Using Stereo},
  author={Christopher Mei and Gabe Sibley and Mark Joseph Cummins and Paul Newman and Ian D. Reid},
  journal={International Journal of Computer Vision},
  year={2010},
  volume={94},
  pages={198-214}
}
Large scale exploration of the environment requires a constant time estimation engine. Bundle adjustment or pose relaxation do not fulfil these requirements as the number of parameters to solve grows with the size of the environment. We describe a relative simultaneous localisation and mapping system (RSLAM) for the constant-time estimation of structure and motion using a binocular stereo camera system as the sole sensor. Achieving robustness in the presence of difficult and changing lighting… CONTINUE READING

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