TITLE: Building topological map with vision-based SLAM

PRESENTER: Chun-Fan Lee, http://www.cse.unsw.edu.au/~cflee, cflee@cse.unsw.edu.au

AFFILIATION:CSE - UNSW, http://www.cse.unsw.edu.au/

DATE: Friday 15th April 2005

TIME: 12:00:00

PLACE: Seminar Room Level 1, K17

ABSTRACT:

Majority of vision-based SLAM/Localization methods are extension
of the Kalman filter type method which is not vision friendly.
A new SLAM framework has been developed to address various
vision specific issues. The framework will built a view-centered
topological map of the environment and solve the data association
problem using a robust back-tracking algorithm. Experimental
result shows excellent performance in handling problems such as
closing large misaligned loops and resolving from multiple
ambiguous landmarks.

BIOGRAPHY OF SPEAKER:

Chun-Fan Lee is a PhD student at CSE. His research topic is vision based navigation, vision and Robotics.

Host:

Seminar Convenor:

Van Hai Ho