please see my MIT page for up-to-date information Check out iSAM, my recent work on SLAM

Loop Closing

Publications

“A Markov Chain Monte Carlo Approach to Closing the Loop in SLAM” by M. Kaess and F. Dellaert. In IEEE Intl. Conf. on Robotics and Automation, ICRA, (Barcelona, Spain), Apr. 2005, pp. 645-650. Details. Download: PDF.
“Probabilistic Structure Matching for Visual SLAM with a Multi-Camera Rig” by M. Kaess and F. Dellaert. Computer Vision and Image Understanding, CVIU, vol. 114, Feb. 2010, pp. 286-296. Details. Download: PDF.

We have originally applied our loop closing algorithm to laser data. In the meantime we have also extended it to visual SLAM. Before loop closing

After loop closing

Michael Kaess
Center for Robotics and Intelligent Machines, Georgia Tech	GT CoC IC GVU RIM@GT BORG