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.
Full Text 
Sign-in/Register to access full text options
Sign-in/Register to access full text options 
Published version (
Free)
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
