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A benchmark for outdoor vision SLAM systems

Show simple item record Abdallah S.M. Asmar D.C. Zelek J.S.
dc.contributor.editor 2007 2017-10-04T11:16:05Z 2017-10-04T11:16:05Z 2007
dc.identifier 10.1002/rob.20180
dc.identifier.issn 15564959
dc.description.abstract Simulataneous localization and mapping (SLAM) is a viable solution to autonomous robot navigation in outdoor settings when global positioning systems are unavailable or unreliable. While the traditional exteroceptive sensor for outdoor SLAM is a laser, cameras have also been proposed due to their low power consumption, low price, high bandwidth of information, and superior landmark segmentation capabilities. All outdoor Vision SLAM systems developed to date are implemented on different platforms, in different settings, using different dead-reckoning sensors; a fact which makes if difficult to compare them and the assess the state of the art of Vision SLAM. The contribution of this paper is in developing an infrastructure for a benchmark upon which past and future Vision SLAM system ran be compared. This proposed benchmark is validated by testing its datasets on a Vision-Inertial SLAM system. © 2007 Wiley Periodicals, Inc.
dc.format.extent Pages: (145-165)
dc.language English
dc.publisher HOBOKEN
dc.relation.ispartof Publication Name: Journal of Field Robotics; Publication Year: 2007; Volume: 24; no. 41641; Pages: (145-165);
dc.source Scopus
dc.title A benchmark for outdoor vision SLAM systems
dc.type Article
dc.contributor.affiliation Abdallah, S.M., Department of Mechanical Engineering, American University of Beirut, Beirut, Riad El-Solh 1107 2020, Lebanon
dc.contributor.affiliation Asmar, D.C., Department of Systems Design Engineering, University of Waterloo, Waterloo, ON N2L 3G1, Canada
dc.contributor.affiliation Zelek, J.S., Department of Systems Design Engineering, University of Waterloo, Waterloo, ON N2L 3G1, Canada
dc.contributor.authorAddress Abdallah, S.M.; Department of Mechanical Engineering, American University of Beirut, Beirut, Riad El-Solh 1107 2020, Lebanon; email:
dc.contributor.authorCorporate University: American University of Beirut; Faculty: Faculty of Engineering and Architecture; Department: Mechanical Engineering;
dc.contributor.authorDepartment Mechanical Engineering
dc.contributor.faculty Faculty of Engineering and Architecture
dc.contributor.authorInitials Abdallah, SM
dc.contributor.authorInitials Asmar, DC
dc.contributor.authorInitials Zelek, JS
dc.contributor.authorReprintAddress Abdallah, SM (reprint author), Amer Univ Beirut, Dept Mech Engn, Riad El Solh 1107 2020, Beirut, Lebanon.
dc.contributor.authorUniversity American University of Beirut
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dc.description.citedCount 8
dc.description.citedTotWOSCount 7
dc.description.citedWOSCount 6
dc.format.extentCount 21
dc.identifier.scopusID 33947522186
dc.publisher.address 111 RIVER ST, HOBOKEN, NJ 07030 USA
dc.relation.ispartOfISOAbbr J. Field Robot.
dc.relation.ispartOfIssue 41641
dc.relation.ispartofPubTitle Journal of Field Robotics
dc.relation.ispartofPubTitleAbbr J. Field. Rob.
dc.relation.ispartOfVolume 24
dc.source.ID WOS:000246147300008
dc.type.publication Journal
dc.subject.otherIndex Cameras
dc.subject.otherIndex Computer vision
dc.subject.otherIndex Global positioning system
dc.subject.otherIndex Image segmentation
dc.subject.otherIndex Laser applications
dc.subject.otherIndex Autonomous robot navigation
dc.subject.otherIndex Outdoor vision
dc.subject.otherIndex Simultaneous localization and mapping (SLAM)
dc.subject.otherIndex Robots
dc.subject.otherKeywordPlus NAVIGATION
dc.subject.otherWOS Robotics

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