De Cubber, G., Berrabah, SA., Doroftei, L. D., Baudouin, Y., & Sahli, H. (2010). Combining Dense structure from Motion and Visual SLAM in a Behavior-based Robot Control Architecture. International Journal of Advanced Robotic Systems, 17, 27-38.

@article{d5e9b173bafc4b6aa13d4c2a8d504ffb,
title = "Combining Dense structure from Motion and Visual SLAM in a Behavior-based Robot Control Architecture",
abstract = "In this paper, we present a control architecture for an intelligent outdoor mobile robot. This enables the robot to navigate in a complex, natural outdoor environment, relying on only a single on-board camera as sensory input. This is achieved through a twofold analysis of the visual data stream: a dense structure from motion algorithm calculates a depth map of the environment and a visual simultaneous localization and mapping algorithm builds a map of the surroundings using image features. This information enables a behavior-based robot motion and path planner to navigate the robot through the environment. In this paper, we show the theoretical aspects of setting up this architecture",
keywords = "robot navigation, stereo reconstruction, Visual SLAM",
author = "{De Cubber}, Geert and Sid'Ahmed Berrabah and Doroftei, {Liliana Daniela} and Yvan Baudouin and Hichem Sahli",
year = "2010",
language = "English",
volume = "17",
pages = "27--38",
journal = "International Journal of Advanced Robotic Systems",
issn = "1729-8806",
publisher = "Vienna University of Technology",
}