Juan D. Tardós

Bags of Binary Words for Fast Place Recognition in Image Sequences

We propose a novel method for visual place recognition using bag of words obtained from accelerated segment test (FAST)+BRIEF features. For the first time, we build a vocabulary...

A comparison of loop closing techniques in monocular SLAM

Fast relocalisation and loop closing in keyframe-based SLAM

In this paper we present for the first time a relocalisation method for keyframe-based SLAM that can deal with severe viewpoint change, at frame-rate, in maps containing thousan...

Visual-Inertial Monocular SLAM With Map Reuse

In recent years there have been excellent results in Visual-Inertial Odometry\ntechniques, which aim to compute the incremental motion of the sensor with high\naccuracy and robu...

Large-Scale 6-DOF SLAM With Stereo-in-Hand

<para xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> In this paper, we describe a system that can carry out simultaneous localization...