The vSLAM Algorithm for Robust Localization and Mapping

— This paper presents the Visual Simultaneous Localization and Mapping (vSLAMTM ) algorithm, a novel algorithm for simultaneous localization and mapping (SLAM). The algorithm is vision- and odometry-based, and enables lowcost navigation in cluttered and populated environments. No initial map is required, and it satisfactorily handles dynamic changes in the environment, for example, lighting changes, moving objects and/or people. Typically, vSLAM recovers quickly from dramatic disturbances, such as “kidnapping”.

• Type: Conference
• Year: 2005
• Where: ICRA
• Authors: Niklas Karlsson, Enrico Di Bernardo, James P. Ostrowski, Luis Goncalves, Paolo Pirjanian, Mario E. Munich
• Keywords: ICRA 2005, Lowcost Navigation, Robotics, Simultaneous Localization, Visual Simultaneous Localization