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Visual Navigation And Place Recognition: Metric, Topological, Bio-inspired
Faculty: Kostas Daniilidis
Project Homepage: http://vision.grasp.upenn.edu/cgi-bin/index.php
We investigate the creation of large scale maps from panoramic video. To establish metric maps, we rely on an incremental algorithm which avoids any motion model assumptions but uses all inlier features for subsequent views. We establish kilometer-long maps and odometries, useful for GPS-denied environments. To establish topological maps we introduced a new MRF optipization scheme for loop closing as well as new similarity score based on dynamic programming.