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Vision-based Topological SLAM

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Uploaded by on Feb 14, 2010

Researchers:
Wen Lik Dennis Lui and Ray Jarvis

Summary:
This video shows an autonomous vision based robot performing topological SLAM in an indoor lab environment. The robot uses omnidirectional catadioptric stereovision techniques on a GPU, visual odometry, an appearance-based localization and mapping system and a Bumblebee stereovision system to perceive, map and plan its path in the environment without apriori knowledge.

Paper:
W.L.D. Lui and R. Jarvis, "A Pure Vision-based Approach to Topological SLAM", Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, 2010, pp.3784-3791.

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