Paul Newman

FAB-MAP 3D: Topological mapping with spatial and visual appearance

This paper describes a probabilistic framework for appearance based navigation and mapping using spatial and visual appearance data. Like much recent work on appearance based na...

Appearance-only SLAM at large scale with FAB-MAP 2.0

We describe a new formulation of appearance-only SLAM suitable for very large scale place recognition. The system navigates in the space of appearance, assigning each new observ...

The New College Vision and Laser Data Set

In this paper we present a large dataset intended for use in mobile robotics research. Gathered from a robot driving several kilometers through a park and campus, it contains a ...

A comparison of loop closing techniques in monocular SLAM

Closing loops without places

This paper proposes a new topo-metric representation of the world based on co-visibility that simplifies data association and improves the performance of appearance-based recogn...