Vision-based mobile robot localization and mapping using scale-invariant features

• DOI: 10.1109/robot.2001.932909
• Publication Date: 2002-11-13T16:02:21Z
• Authors: S. Se; D. Lowe; J. Little
• Keywords: Mobile Robot Navigation; Feature (linguistics)

A key component of a mobile robot system is the ability to localize itself accurately and build map environment simultaneously. In this paper, vision-based localization mapping algorithm described which uses scale-invariant image features as landmarks in unmodified dynamic environments. These 3D are localized ego-motion estimated by matching them, taking into account feature viewpoint variation. With our Triclops stereo vision system, experiments show that these robustly matched between views, tracked, pose built.