TITLE: Outdoor Vision-based Localization and Map Building

PRESENTER: Chun-Fan (Henry) Lee, , lee.chunfan@gmail.com

AFFILIATION:School of Computer Science and Engineering, UNSW, http://www.cse.unsw.edu.au

DATE: Friday 9th February 2007

TIME: 12:00:00

PLACE: CSE Seminar Room, Level 1, K17

ABSTRACT:

This work focused on the use of vision sensors in a large-scale
outdoor SLAM problem. This includes examining various SLAM
frameworks, comparison of different visual features and discussion of
implementation issues. An appearance-based semi-topologcal map
building algorithm will be presented. The proposed algorithm performs
map-updates in constant time while having a worst-case complexity of
O(n) for prediction step. The algorithm have been tested in-car,
travelling more than 7km under normal driving condition.

BIOGRAPHY OF SPEAKER:

Henry is a Research Master student at CSE. Henry has been working
in the area of vision based navigation, vision and robotics under
supervision of A/Prof Arcot Sowmya.

Seminar information is also available at
http://www.cse.unsw.edu.au/db/ai/seminars/list/index.html

Host:

Arcot Sowmya

Seminar Convenor:

Van Hai Ho