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Sequential Localisation and Map-Building in Computer Vision and Robotics

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3D Structure from Images — SMILE 2000 (SMILE 2000)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 2018))

Abstract

Reviewing the important problem of sequential localisation and map-building, we emphasize its genericity and in particular draw parallels between the often divided fields of computer vision and robot navigation. We compare sequential techniques with the batch methodologies currently prevalent in computer vision, and explain the additional challenges presented by real-time constraints which mean that there is still much work to be done in the sequential case, which when solved will lead to impressive and useful applications. In a detailed tutorial on map- building using first-order error propagation, particular attention is drawn to the roles of modelling and an active methodology. Finally, recognising the critical role of software in tackling a generic problem such as this, we announce the distribution of a proven and carefully designed open-source software framework which is intended for use in a wide range of robot and vision applications: http://www.robots.ox.ac.uk/~ajd/

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Author information

Authors and Affiliations

  1. Intelligent Systems Division, Electrotechnical Laboratory, 1-1-4 Umezono, Tsukuba, Ibaraki, 305-8568, Japan

    Andrew J. Davison & Nobuyuki Kita

Authors
  1. Andrew J. Davison
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  2. Nobuyuki Kita
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Editor information

Editors and Affiliations

  1. Center for Processing of Speech and Images, Katholieke Universiteit Leuven, Kasteelpark Arenberg 10, 3001, Leuven-Heverlee, Belgium

    Marc Pollefeys  & Luc Van Gool  & 

  2. Department of Engineering Science, University of Oxford, 19 Parks Road, Oxford OX1, 3PJ, UK

    Andrew Zisserman  & Andrew Fitzgibbon  & 

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© 2001 Springer-Verlag Berlin Heidelberg

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Davison, A.J., Kita, N. (2001). Sequential Localisation and Map-Building in Computer Vision and Robotics. In: Pollefeys, M., Van Gool, L., Zisserman, A., Fitzgibbon, A. (eds) 3D Structure from Images — SMILE 2000. SMILE 2000. Lecture Notes in Computer Science, vol 2018. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45296-6_15

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  • DOI: https://doi.org/10.1007/3-540-45296-6_15

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-41845-0

  • Online ISBN: 978-3-540-45296-6

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