articleThe International Journal of Robotics ResearchNov 12, 2010GREEN OA

Appearance-only SLAM at large scale with FAB-MAP 2.0

MCMark CumminsPNPaul Newman

University of Oxford · Robotics Research (United States)

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Abstract

We describe a new formulation of appearance-only SLAM suitable for very large scale place recognition. The system navigates in the space of appearance, assigning each new observation to either a new or a previously visited location, without reference to metric position. The system is demonstrated performing reliable online appearance mapping and loop-closure detection over a 1000 km trajectory, with mean filter update times of 14 ms. The scalability of the system is achieved by defining a sparse approximation to the FAB-MAP model suitable for implementation using an inverted index. Our formulation of the problem is fully probabilistic and naturally incorporates robustness against perceptual aliasing. We also…

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Topics
Keywords
  • Computer science
  • Robustness (evolution)
  • Artificial intelligence
  • Simultaneous localization and mapping
  • Computer vision
  • Scalability
  • Probabilistic logic
  • Pattern recognition (psychology)
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