Visual place recognition is a challenging problem due to the vast range of ways in which the
appearance of real-world places can vary. In recent years, improvements in visual sensing …

The second edition of a comprehensive introduction to all aspects of mobile robotics, from
algorithms to mechanisms. Mobile robots range from the Mars Pathfinder mission's …

This paper describes a probabilistic approach to the problem of recognizing places based
on their appearance. The system we present is not limited to localization, but can determine …

The lack of floor plans is a critical reason behind the current sporadic availability of indoor
localization service. Service providers have to go through effort-intensive and time …

Topological maps model the environment as a graph, where nodes are distinctive places of
the environment and edges indicate topological relationships between them. They represent …

Detecting already-visited regions based on their visual appearance helps reduce drift and
position uncertainties in robot navigation and mapping. Inspired from content-based image …

Computed tomography (CT) is the primary diagnostic tool for brain diseases. To determine
the appropriate treatment plan, it is necessary to ascertain the patient's bleeding volume …

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 …

Scene modeling has a key role in applications ranging from visual mapping to augmented
reality. This paper presents an end‐to‐end solution for creating accurate three‐dimensional …

We present a simple artificial landmark model and a robust tracking algorithm for the
navigation of indoor mobile robots. The landmark model is designed to have a three …