Topological SLAM Using Fast Vision Techniques

@inproceedings{Werner2009TopologicalSU,
  title={Topological SLAM Using Fast Vision Techniques},
  author={Felix Werner and Fr{\'e}d{\'e}ric Maire and Joaquin Sitte},
  booktitle={FIRA RoboWorld Congress},
  year={2009}
}
In this paper we propose a method for vision only topological simultaneous localisation and mapping (SLAM). Our approach does not use motion or odometric information but a sequence of noisy visual measurements observed by traversing an environment. In particular, we address the perceptual aliasing problem which occurs using external observations only in topological navigation. We propose a Bayesian inference method to incrementally build a topological map by inferring spatial relations from the… CONTINUE READING
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