SLAM Paper Repository

Henrik I Christensen (Ed.)
Centre for Autonomous Systems
Kungl Tekniska Högskolan
SE-100 44 Stockholm
hic@nada.kth.se

1  Papers

References

[1]

Anguelov, D., Biswas, R., Koller, D., Limketkai, B., Sanner, S., , and Thrun., S. Learning hierarchical object maps of non-stationary environments with mobile robots. In Proc. 17th Conf on Uncertainty in AI (UAI) (Jun 2002). (pdf).

[2]

Bailey, I. Mobile robot localisation and maping in extensive outdoor environments. PhD thesis, ACFR, University of Sydney, Australia, Aug 2002. (pdf).

[3]

Betge-Brezetz, S., Chatila, R., and Devy, M. Object-based modelling and localization in natural environments. In ICRA-95 (Osaka (Japan), 1995). (pdf).

[4]

Betgé-Brezetz, S., Hébert, P., Chatila, R., and Devy, M. Uncertain map making in natural environment. In ICRA (Minneapolis, April 1996). (pdf).

[5]

Bosse, M., Newman, P., Leonard, J., Soika, M., Felten, W., and Teller, S. An atlas framework for scalable mapping. In ICRA (Taiwan, April 2003), pp. 1899-1906. (pdf).

[6]

Bosse, M., Newman, P., Leonard, J., and Teller, S. Slam in large-scale cyclic environments using the atlas framework. IJRR (2004), 2004. (pdf).

[7]

Bulata, H., and Devy, M. Incremental construction of a landmark-based and topological model of indoor environments by a mobile robot. In ICRA (Minneapolis (USA), 1996). (pdf).

[8]

Burgard, W., Cremers, A. B., Fox, D., Hahnel, D., Lakemeyer, G., Schulz, D., Steiner, W., and Thrun., S. Experiences with an interactive museum tour-guide robot. Artificial Intelligence 114, 1-2 (1999), 3-55. (pdf).

[9]

Castellanos, J. A., Montiel, J. M. M., Neira, J., and Tardós, J. D. The SPmap: A probabilistic framework for simultaneous localization and map building. IEEE Trans on Robotics and Automation 15, 5 (October 1999), 948-952. (pdf).

[10]

Castellanos, J. A., Neira, J., and Tardos, J. D. Limits to the consistencyof the EKF-based SLAM. In Intelligent Autonomous Vehicles (IAV-2004) (Lisboa, PT, July 2004), M. I. Ribeiro and J. Santos-Victor, Eds., IFAC/EURON, IFAC/Elsevier. (pdf).

[11]

Castellanos, J. A., Neira, J., and Tardós, J. D. Multisensor fusion for simultaneous localization and map building. IEEE Trans on Robotics and Automation 17, 6 (December 2001), 908-914. (pdf).

[12]

Chatila, R., and Laumond, J.-P. Position referencing and consistent world modeling for mobile robots. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA'85) (1985), pp. 138-145. (pdf).

[13]

Cid, R. M., Parra, C., and Devy, M. Visual navigation in natural environments: from range and color data to a landmark-based model. Autonomous Robots 13, 2 (Sept 2002), 143-168. (pdf).

[14]

Csorba, M. Simultaneous Localisation and Mapping. PhD thesis, Univ of Oxford, 1997. (pdf).

[15]

Davison, A. Mobile Robot Navigation Using Active Vision. PhD thesis, Univ of Oxford, Oxford (UK), June 1998. (pdf).

[16]

Davison, A. Real time simultaneous localisation and mapping with a single camera. In ICCV (Nice (F), July 2003). (pdf).

[17]

Davison, A. J. Active search for real-tiem vision. In 10th International Conference on Computer Vision (Beijing, China, Oct. 2005), IEEE. (PDF).

[18]

Davison, A. J., Cid, Y. G., and Kita, N. Real-time 3D SLAM with wide-angle vision. In Intelligent Autonomous Vehicles (Lisboa, Portugal, Jul. 2004). (PDF).

[19]

Devy, M., and Bulata, H. Multi-sensory perception and heterogeneous representations for the navigation of a mobile robot in a structured  environment. In Symposium on Intelligent Robot Systems (Lisboa, July 1996), (SIRS-96). (pdf).

[20]

Devy, M., and Parra, C. 3-D scene modelling and curve-based localization in natural environments. In ICRA (Leuven (Belgium), April 1998). (pdf).

[21]

Dissanayaka, M., Newman, P., Clark, S., Durrant-Whyte, H., and Csorba, M. A solution to the simultaneous localisation and map building problem. IEEE Trans. on Robotics and Automation 17, 3 (June 2001), 229-241. (pdf).

[22]

Dissanayake, M. W. M. G., Newman, P., Clark, S., Durrant-Whyte, H. F., and Csorba, M. A solution to the simultaneous localization and map building (slam) problem. IEEE Transactions on Robotics and Automation, 17, 3 (June 2001), 229-241. (pdf).

[23]

Dudek, G., and Jegessur, D. Robust place recognition using local appearance based methods. In ICRA-2002 (San Francisco, CA, 200), IEEE, pp. 466-474. (pdf).

[24]

Eliazar, A., and Parr, R. Dp-slam: Fast, robust simulataneous localization and mapping without predetermined landmarks. In 18th IJCAI (Acapulco, August 2003). (pdf).

[25]

Eliazar, A., and Parr, R. Dp-slam 2.0. In ICRA (New Orleans (USA), April 2004). (pdf).

[26]

Feder, H. J. S., Leonard, J. J., and Smith, C. M. Adaptive mobile robot navigation and mapping. Int. J. Robotics Research 18, 7 (July 1999), 650-668. (pdf).

[27]

Fenwick, J., Newman, P., and Leonard, J. Collaborative concurrent mapping and localization. In IEEE Conf on Robotics and Automation (Washington, DC, May 2002). (pdf).

[28]

Folkesson, J., and Christensen, H. I. Graphical slam - a self-correcting map. In ICRA-05 (New Orleans, April 2004), IEEE. (pdf).

[29]

Folkesson, J., and Christensen, H. I. Robust SLAM. In IAV-2004 (Lisboa, PT, July 5-7 2004). (pdf).

[30]

Folkesson, J., Jensfelt, P., and Christensen, H. Vision slam in the measurement subspace. In Intl Conf. on Robotics and Automation (Barcelona, ES, Apr 2005), IEEE. (pdf).

[31]

Folkesson, J., Jensfelt, P., and Christensen, H. I. Graphical SLAM using vision and the measurement subspace. In Intl Conf. on Intelligent Robotics and Systems (IROS) (Edmundton, Canada, Aug 2005), IEEE/JRS. (pdf).

[32]

Frese, U., Larsson, P., and Duckett, T. A multi-level relaxation algorithm for simultaneous localisation and mapping. IEEE Trans on Robotics and Automation 21, 2 (April 2005), 196-206.

[33]

Guivant, J., Masson, F., and Nebot, E. Simultaneous localization and map building using natural features and absolute information. Robotics and Autonomous Systems (2002). (pdf).

[34]

Guivant, J., and Nebot, E. Improving computational and memory requirements of simultaneous localization and map building algorithms. In IEEE Intl. Conf on Robotics and Automation (Washington DC, May 2002), pp. 2731-2736. (pdf).

[35]

Guivant, J., and Nebot, E. Solving computational and memory requirements of feature based simultaneous localization and map building algorithms. Tech. rep., Australian Centre for Field Robotics, Univ of Sydney, 2002. (pdf).

[36]

Guivant, J., Nebot, E., and Baiker, S. Autonomous navigation and map building using laser range sensors in outdoor applications. Journal of Robotics Systems 17, 10 (October 2000), 565-583. (pdf).

[37]

Guivant, J. E. Efficient Simultaneous Localisation and Mapping in Large Environments. PhD thesis, ACFR, Univ. of Sydney, Australia, May 2002. (pdf).

[38]

Guivant, J. E., and Nebot, E. Optimization of the simultaneous localization and map-building algorithm for real-time implementation. IEEE Transactions on Robotics and Automation, 17, 3 (June 2001), 242-257. (pdf).

[39]

Guivant, J. E., Nebot, E. M., Nieto, J., and Masson, F. Navigation and mapping in large unstructured environments. IJRR 23, 4 (April 2004). (pdf).

[40]

Gutmann, S., and Schlegel, C. Amos: Comparison of scan-matching approaches for self-localization in indoor environments. In 1st Euromicro Conf on Adv. Mobile Robotics (1996), IEEE. (pdf).

[41]

Hähnel, D., Burgard, W., Fox, D., and Thrun, S. A highly efficient fastslam algorithm for generating cyclic maps of large-scale environments from raw laser range measurements. In IROS (Las Vegas (USA), 2003), IEEE/RSJ. (pdf).

[42]

Hahnel, D., Schulz, D., and Burgard, W. Map building with mobile robots in populated environments. In IROS-02 (Lausanne, CH, October 2002), p. (In press). (pdf).

[43]

Hähnel, D., Schulz, D., and Burgard, W. Mobile robot mapping in populated environments. Autonomous Robots 17, 7 (2003), 579-598. (pdf).

[44]

Hähnel, D., Triebel, R., Burgard, W., and Thrun, S. Map building with mobile robots in dynamic environments. In ICRA (Taiwan, April 2003), IEEE. (pdf).

[45]

Hayet, J. B., Lerasle, F., and Devy, M. A visual landmark framework for indoor mobile robot navigation. In ICRA (Washington, DC (USA), May 2002), IEEE. (pdf).

[46]

Jensfelt, P., Austin, D., Wijk, O., and Andersson, M. Feature based condensation for mobile robot localization. In IEEE Intl. Conf. on Robotics and Automation (May 2000), pp. 2531-2537. (pdf).

[47]

Jensfelt, P., Christensen, H., and Zunino, G. Integrated systems for mapping and localization. In ICRA-02 SLAM Workshop, J. Leonard and H. Durrant-Whyte, Eds. IEEE, May 2002. (pdf).

[48]

Jensfelt, P., and Christensen, H. I. Pose tracking using laser scanning and minimalistic environmental models. IEEE Trans. on Robotics and Automation 17, 2 (April 2001), 138-147. (pdf).

[49]

Jensfelt, P., and Kristensen, S. Active global localisation for a mobile robot using multiple hypothesis tracking. IEEE Transactions on Robotics and Automation 17, 5 (October 2001), 748-760. (pdf).

[50]

Jensfelt, P., Wijk, O., Austin, D., and Andersson, M. Experiments on augmenting condensation for mobile robot localization. In IEEE Intl. Conf. on Robotics and Automation (May 2000), pp. 2518-2524. (pdf).

[51]

Julier, S. J., and Uhlmann, J. K. Building a Million Beacon Map. In Sensor Fusion (2001), SPIE.

[52]

Jung, I. K., and Lacroix, S. High resolution terrain mapping using low altitude aerial stereo imagery. In ICCV (Nice (F), July 2003), IEEE. (pdf).

[53]

Konolige, K., and Gutmann, S. Incremental mapping of large cyclic environments. In Intl. Symp. on Comp Intell. in Rob and Aut. - CIRA-99 (Monterey, CA, November 1999). (pdf).

[54]

Kumar, S., Ramos, F., Upcroft, B., and Durrant-Whyte, H. A statistical framework for natural feature representation. In Intl. Conf. on Intelligent Robotics and Systems (Edmundton, Canada, Aug 2005), IEEE/JRS, pp. 1-6. (pdf).

[55]

Leonard, J., and Newman, P. Consistent, convergent, and constant-time slam. In IJCAI (Acapulco, August 2003). (pdf).

[56]

Leonard, J. J., and Durrant-Whyte, H. F. Mobile robot localization by tracking geometric beacons. IEEE Trans on Robotics and Automation 7, 3 (June 1991), 376-382. (pdf).

[57]

Leonard, J. J., and Durrant-Whyte, H. F. Simultaneous map building and localization for an autonomous mobile robot. In IROS-91 (Osaka, Japan, 1991), pp. 1442-1447. (pdf).

[58]

Leonard, J. J., and Feder, H. J. S. Decoupled stochastic mapping. IEEE Journal of Ocean Engr 26, 4 (2001), 561-571. (pdf).

[59]

Leonard, J. J., Rikoski, R. J., Newman, P. M., and Bosse, M. Mapping partially observable features from multiple uncertain vantage points. Intl Jour of Robotics Research (2002). (pdf) .

[60]

Lu, F., and Milios, E. Globally consistent range scan alignment for environment mapping. Autonomous Robots 4 (1997), 333-349. (pdf).

[61]

Majumder, S., Durrant-Whyte, H., Thrun, S., and de Battista, M. An approximate bayesian method for simultaneous localisation and mapping. IEEE Transactions on Robotics and Automation, ((submitted)). (pdf).

[62]

Montemerlo, M., Thrun, S., Koller, D., and Wegbreit, B. Fastslam: A factored solution to the simultaneous localization and mapping problem. In AAAI-2002 (Vancouver, BC, July 2002). (pdf).

[63]

Moutarlier, P., and Chatila, R. Stochastic multisensory data fusion for mobile robot location and environement modelling. In ISRR (1989). (pdf).

[64]

Neira, J., D.Tardos, J., and A.Castellanos, J. Linear time vehicle relocation in slam. In ICRA (Taiwan, Sep 2003), IEEE. (pdf).

[65]

Neira, J., Ribeiro, M. I., and Tardos, J. D. Mobile robot localisation and map building using monocular vision. In Int. Symp. On Intelligent Robotics Systems (SIRS) (Stockholm (S), July 1997). (pdf).

[66]

Neira, J., and Tardós, J. D. Data association in stochastic mapping using the joint compatibility test. IEEE Trans on Robotics and Automation 17, 6 (December 2001), 890-897. (pdf).

[67]

Newman, P., and and  R. Rikovski, J. L. Towards constant-time slam on an autonomous underwater vehicle using synthetic aperture sonar. In ISRR (Sienna, Sep 2003). (pdf).

[68]

Newman, P., Leonard, J., Neira, J., and Tardós, J. Explore and return: Experimental validation of real time concurrent mapping and localization. In IEEE Conf on Robotics and Automation (Washington, DC, May 2002). (pdf.

[69]

Newman, P. M. On the Structure and Solution of the Simultaneous Localization and Map Building Problem. PhD thesis, ACFR, Univ of Sydney, Australia, March 1999. (pdf).

[70]

Newman, P. M., and Durrant-Whyte, H. F. A new solution to the simultaneous and map building (SLAM) problem. In SPIE (2001). (pdf).

[71]

Nieto, J., Guivant, J. E., and Nebot, E. M. The HYbrid Metric Maps (HYMMs): A novel map representation for denseslam. In ICRA (New Orleans (USA), May 2004), IEEE. (pdf).

[72]

Nieto, J., Guivant, J. E., Nebot, E. M., and Thrun, S. Real time data association for fastslam. In ICRA (Taiwan, Sep 2003), IEEE. (pdf).

[73]

Nister, D., Naroditsky, O., and Bergen, J. Visual odometry. In CVAP (2004), IEEE. (pdf).

[74]

Olson, E., Leonard, J., and Teller, S. Robust range-only beacon localization. In AUV-2004 (2004). (pdf).

[75]

Ortin, D., Neira, J., and Montiel, J. M. Relocation using laser and vision. In ICRA (New Orleans, April 2004), IEEE. (pdf).

[76]

Paskin, M. A. Thin junction tree filters for simultaneous localizationand mapping. In Proc. 18th IJCAI (San Francisco, CA, 2003), Morgan Kaufmann, pp. 1157-1163. (PDF).

[77]

Rikoski, R., Leonard, J., and Newman, P. Stochastic mapping frameworks. In IEEE Conf on Robotics and Automation (Washington, DC, May 2002). (pdf).

[78]

Rikovski, R., Leonard, J., Newman, P., and Schmidt, H. Trajectory sonar perception in the ligurian sea. In ISER (2004). (pdf).

[79]

Schulz, D., Burgard, W., Fox, D., and Cremers, A. B. Tracking multiple moving objects with a mobile robot. In CVAP-01 (Kauai, HW, December 2001), IEEE. (pdf).

[80]

Stachniss, C., and Burgard, W. Exploration with active loop-closing for fastslam. In IROS (Sendai (Japan), Sep 2004), IEEE/RSJ. (pdf).

[81]

Tardós, J. D., Neira, J., Newman, P. M., and Leonard, J. J. Robust mapping and localization in indoor environments using sonar data. The International Journal of Robotics Research (2002), (to appear). (pdf).

[82]

Thrun, S. Robotics mapping: A survey. Tech. Rep. CMU-CS-02-111, School of Computer Science, Carnegie Mellon University, Pittsburg, PA 15213, February 2002. (pdf).

[83]

Thrun, S., Burgard, W., and Fox, D. A probabilistic approach to concurrent mapping and localization for mobile robots. Machine Learning 31 (1998), 29-53. (pdf).

[84]

Thrun, S., Koller, D., Ghahmarani, Z., and Durrant-Whyte, H. Slam updates require constant time. Tech. rep., School of Computer Science, Carnegie Mellon University, 2002. (pdf).

[85]

Vaganay, J., Leonard, J., Curcio, J. A., and Willcox, J. S. Experimental validation of the moving long base-line navigation concept. In AUV (2004). (pdf).

[86]

Wang, Z., Huang, S., and Dissanayake, G. Decoupling localization and mapping in SLAM using compact relative maps. In Intl. Conf. on Intelligent Robotics and Systems (Edmundton, Canada, Aug 2005), IEEE/JRS, pp. 1041-1046. (pdf.

[87]

Wijk, O., and Christensen, H. Triangulation based fusion of sonar data with application in robot pose tracking. IEEE Transaction on Robotics and Automation 16, 6 (Dec. 2000), 740-752. (pdf).

[88]

Williams, S., Dissanayake, G., and Durrant-Whyte, H. F. Constrained initialisation of the simultaneous localization and mapping algorithm. In Symp. Field and Service Robotics (FSR) (2001), IFRR, Springer Verlag. (pdf).

[89]

Williams, S. B. Efficient Solutions to Autonomous Mapping and Navigation Problems. PhD thesis, ACFR, Univ of Sydney, Australia, Sept 2001. (pdf).

[90]

Zivkovic, Z., Bakker, B., and Kröse, B. Hierarchical map building using visual landmarks and geometric constraints. In Intl. Conf. on Intelligent Robotics and Systems (Edmundton, Canada, Aug 2005), IEEE/JRS, pp. 7-13. (pdf).

[91]

Zunino, G., and Christensen, H. I. Simultaneous localisation and mapping in domestic environments. In Multisensor Fusion and Integration for Intelligent Systems - MFI-2001 (Baden-Baden, 2001), pp. 67-72. (pdf).

[92]

Zunino, G., and Christensen, H. I. Simultaneous mapping and localisation in domestic environments. In Multi-Sensory Fusion and Integration for Intelligent Systems (Baden-Baden, DE, August 2001), R. Dillmann, Ed., pp. 67-72. (pdf).