| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 719789 | IFAC Proceedings Volumes | 2007 | 6 Pages |
Abstract
This paper describes how the recently published SURF features can be used as landmarks for an online FastSLAM algorithm that simultaneously estimates the robot pose and the pose of a large number of landmarks. An implementation with particular focus on efficient data structures like two-stage landmark data base and special balanced binary trees is described. Practical results on outdoor data sets at 3 Hz with about 3-6 % error of total traveled distance are shown.
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
