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Navigating, Recognizing and Describing Urban Spaces With Vision and Lasers

Oxford Mobile Robotics Group, Department of Engineering Science, University of Oxford, Parks Road, Oxford, UK, pnewman{at}robots.ox.ac.uk

Gabe Sibley

Oxford Mobile Robotics Group, Department of Engineering Science, University of Oxford, Parks Road, Oxford, UK

Mike Smith

Oxford Mobile Robotics Group, Department of Engineering Science, University of Oxford, Parks Road, Oxford, UK

Mark Cummins

Oxford Mobile Robotics Group, Department of Engineering Science, University of Oxford, Parks Road, Oxford, UK

Alastair Harrison

Oxford Mobile Robotics Group, Department of Engineering Science, University of Oxford, Parks Road, Oxford, UK

Chris Mei

Active Vision Lab, Department of Engineering Science, University of Oxford, Parks Road, Oxford, UK

Ingmar Posner

Oxford Mobile Robotics Group, Department of Engineering Science, University of Oxford, Parks Road, Oxford, UK

Robbie Shade

Oxford Mobile Robotics Group, Department of Engineering Science, University of Oxford, Parks Road, Oxford, UK

Derik Schroeter

Oxford Mobile Robotics Group, Department of Engineering Science, University of Oxford, Parks Road, Oxford, UK

Liz Murphy

Oxford Mobile Robotics Group, Department of Engineering Science, University of Oxford, Parks Road, Oxford, UK

Winston Churchill

Oxford Mobile Robotics Group, Department of Engineering Science, University of Oxford, Parks Road, Oxford, UK

Dave Cole

Oxford Mobile Robotics Group, Department of Engineering Science, University of Oxford, Parks Road, Oxford, UK

Ian Reid

Active Vision Lab, Department of Engineering Science, University of Oxford, Parks Road, Oxford, UK

In this paper we describe a body of work aimed at extending the reach of mobile navigation and mapping. We describe how running topological and metric mapping and pose estimation processes concurrently, using vision and laser ranging, has produced a full six-degree-of-freedom outdoor navigation system. It is capable of producing intricate three-dimensional maps over many kilometers and in real time. We consider issues concerning the intrinsic quality of the built maps and describe our progress towards adding semantic labels to maps via scene de-construction and labeling. We show how our choices of representation, inference methods and use of both topological and metric techniques naturally allow us to fuse maps built from multiple sessions with no need for manual frame alignment or data association.

Key Words: Mobile robotics • navigation • mapping • SLAM • laser • vision • stereo • visual odometry • semantic labeling • systems • topological navigation • loop closure • FABMAP

This version was published on November 1, 2009

The International Journal of Robotics Research, Vol. 28, No. 11-12, 1406-1433 (2009)
DOI: 10.1177/0278364909341483


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