Real-time hierarchical stereo Visual SLAM in large-scale environments

Abstract

In this paper we present a new real-time hierarchical (topological/metric) Visual SLAM system focusing on the localization of a vehicle in large-scale outdoor urban environments. It is exclusively based on the visual information provided by a cheap wide-angle stereo camera. Our approach divides the whole map into local sub-maps identified by the so-called… (More)
DOI: 10.1016/j.robot.2010.03.016

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