Abstract
AbstractThis article presents an approach to SLAM that takes advantage of panoramic images. Landmarks are interest points detected and matched in the images and mapped according to a bearings‐only SLAM approach. As they are acquired and processed, the panoramic images are also indexed and stored into a database. A database query procedure, independent of the robot and landmark position estimates, is able to detect loop closures by retrieving memorized images that are close to the current robot position. The bearings‐only estimation process is described, and results over a trajectory of a few hundreds of meters are presented and discussed. © 2007 Wiley Periodicals, Inc.
Sign-in/Register to access full text options 
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 callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
