SIFT Based Graphical SLAM on a Packbot

SIFTBasedGraphicalSLAMonaPackbotJohnFolkessonandHenrikChristensen1Dept,ofMeeh・EngineeringMassachusettsInstituteofTechnologyCambridge,MA02139johnfolk@mit•edu2CenterforRoboticsandIntelligentMachinesGeorgiaInstituteofTechnology,Atlanta,GA30332hic@cc.gatech.eduSummary.WepresentanimplementationofSimultaneousLocalizationandMapping(SLAM)thatusesinfrared(JR)cameraimagescollectedal1()HzfromaPackbotrob...