Using Vision for Outdoor-slam

  title={Using Vision for Outdoor-slam},
  author={Ingmar Posner},
In this paper we outline how we seek to augment existing mapping technology with visual competencies designed to enable Simultaneous Localization and Mapping (SLAM) in outdoor settings. We briefly describe the notion of visual similarity between scenes and discuss how it can be applied to scene labelling, loop closure and the definition of distinctive places. However, the main questions are, how topological constraints can improve state-of-the-art SLAM techniques for outdoor environments, which… CONTINUE READING