Show Reference: "Mapping a Suburb With a Single Camera Using a Biologically Inspired SLAM System"

Mapping a Suburb With a Single Camera Using a Biologically Inspired SLAM System Robotics, IEEE Transactions on, Vol. 24, No. 5. (October 2008), pp. 1038-1053, doi:10.1109/tro.2008.2004520 by M. J. Milford, G. F. Wyeth
@article{milford-and-wyeth-2008,
    abstract = {This paper describes a biologically inspired approach to vision-only simultaneous localization and mapping ({SLAM}) on ground-based platforms. The core {SLAM} system, dubbed {RatSLAM}, is based on computational models of the rodent hippocampus, and is coupled with a lightweight vision system that provides odometry and appearance information. {RatSLAM} builds a map in an online manner, driving loop closure and relocalization through sequences of familiar visual scenes. Visual ambiguity is managed by maintaining multiple competing vehicle pose estimates, while cumulative errors in odometry are corrected after loop closure by a map correction algorithm. We demonstrate the mapping performance of the system on a 66 km car journey through a complex suburban road network. Using only a web camera operating at 10 Hz, {RatSLAM} generates a coherent map of the entire environment at real-time speed, correctly closing more than 51 loops of up to 5 km in length.},
    author = {Milford, M. J. and Wyeth, G. F.},
    doi = {10.1109/tro.2008.2004520},
    issn = {1552-3098},
    journal = {Robotics, IEEE Transactions on},
    keywords = {ratslam, slam, vslam},
    month = oct,
    number = {5},
    pages = {1038--1053},
    posted-at = {2012-04-02 10:30:43},
    priority = {2},
    publisher = {IEEE},
    title = {Mapping a Suburb With a Single Camera Using a Biologically Inspired {SLAM} System},
    url = {http://dx.doi.org/10.1109/tro.2008.2004520},
    volume = {24},
    year = {2008}
}

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