In this paper we describe a system for use on a mobile robot that detects potential loop closures using both the visual and spatial appearance of the local scene. Loop closing is the act of correctly asserting that a vehicle has returned to a previously visited location. It is an important component in the search to make SLAM (Simultaneous Localization and Mapping) the reliable technology it sh...

Place recognition is an essential component of autonomous mobile robot navigation. It is used for loop-closure detection to maintain consistent maps, or to localize the robot along a route, or in kidnapped-robot situations. Camera sensors provide rich visual information for this task. We compare different approaches for visual place recognition: holistic methods (visual compass and warping), si...

Automated 3D modeling of building interiors is useful in applications such as virtual reality and environment mapping. We have developed a human operated backpack data acquisition system equipped with a variety of sensors such as cameras, laser scanners, and orientation measurement sensors to generate 3D models of building interiors, including uneven surfaces and stairwells. An important interm...

In this paper, we propose panoramic annular simultaneous localization and mapping (PA-SLAM), a visual SLAM system based on lens. A hybrid point selection strategy is put forward in the tracking front end, which ensures repeatability of key points enables loop closure detection bag-of-words approach. Every detected candidate verified geometrically, <mml:math xmlns:mml="http://www.w3.org/1998/Mat...