{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:57:08Z","timestamp":1777715828590,"version":"3.51.4"},"reference-count":74,"publisher":"SAGE Publications","issue":"11-12","license":[{"start":{"date-parts":[[2009,7,21]],"date-time":"2009-07-21T00:00:00Z","timestamp":1248134400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2009,11]]},"abstract":"<jats:p>In this paper we describe a body of work aimed at extending the reach of mobile navigation and mapping. We describe how running topological and metric mapping and pose estimation processes concurrently, using vision and laser ranging, has produced a full six-degree-of-freedom outdoor navigation system. It is capable of producing intricate three-dimensional maps over many kilometers and in real time. We consider issues concerning the intrinsic quality of the built maps and describe our progress towards adding semantic labels to maps via scene de-construction and labeling. We show how our choices of representation, inference methods and use of both topological and metric techniques naturally allow us to fuse maps built from multiple sessions with no need for manual frame alignment or data association.<\/jats:p>","DOI":"10.1177\/0278364909341483","type":"journal-article","created":{"date-parts":[[2009,7,21]],"date-time":"2009-07-21T21:40:26Z","timestamp":1248212426000},"page":"1406-1433","source":"Crossref","is-referenced-by-count":99,"title":["Navigating, Recognizing and Describing Urban Spaces With Vision and Lasers"],"prefix":"10.1177","volume":"28","author":[{"given":"Paul","family":"Newman","sequence":"first","affiliation":[{"name":"Oxford Mobile Robotics Group, Department of Engineering Science, University of Oxford, Parks Road, Oxford, UK,"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Gabe","family":"Sibley","sequence":"additional","affiliation":[{"name":"Oxford Mobile Robotics Group, Department of Engineering Science, University of Oxford, Parks Road, Oxford, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mike","family":"Smith","sequence":"additional","affiliation":[{"name":"Oxford Mobile Robotics Group, Department of Engineering Science, University of Oxford, Parks Road, Oxford, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mark","family":"Cummins","sequence":"additional","affiliation":[{"name":"Oxford Mobile Robotics Group, Department of Engineering Science, University of Oxford, Parks Road, Oxford, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Alastair","family":"Harrison","sequence":"additional","affiliation":[{"name":"Oxford Mobile Robotics Group, Department of Engineering Science, University of Oxford, Parks Road, Oxford, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chris","family":"Mei","sequence":"additional","affiliation":[{"name":"Active Vision Lab, Department of Engineering Science, University of Oxford, Parks Road, Oxford, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ingmar","family":"Posner","sequence":"additional","affiliation":[{"name":"Oxford Mobile Robotics Group, Department of Engineering Science, University of Oxford, Parks Road, Oxford, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Robbie","family":"Shade","sequence":"additional","affiliation":[{"name":"Oxford Mobile Robotics Group, Department of Engineering Science, University of Oxford, Parks Road, Oxford, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Derik","family":"Schroeter","sequence":"additional","affiliation":[{"name":"Oxford Mobile Robotics Group, Department of Engineering Science, University of Oxford, Parks Road, Oxford, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Liz","family":"Murphy","sequence":"additional","affiliation":[{"name":"Oxford Mobile Robotics Group, Department of Engineering Science, University of Oxford, Parks Road, Oxford, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Winston","family":"Churchill","sequence":"additional","affiliation":[{"name":"Oxford Mobile Robotics Group, Department of Engineering Science, University of Oxford, Parks Road, Oxford, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dave","family":"Cole","sequence":"additional","affiliation":[{"name":"Oxford Mobile Robotics Group, Department of Engineering Science, University of Oxford, Parks Road, Oxford, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ian","family":"Reid","sequence":"additional","affiliation":[{"name":"Active Vision Lab, Department of Engineering Science, University of Oxford, Parks Road, Oxford, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2009,7,21]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2004514"},{"key":"atypb2","volume-title":"Tracking and Data Association","author":"Bar-Shalom, Y.","year":"1988"},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1109\/9.250476"},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1109\/34.121791"},{"key":"atypb5","volume-title":"Proceedings of Robotics: Science and Systems","author":"Bibby, C."},{"key":"atypb6","doi-asserted-by":"publisher","DOI":"10.1177\/0278364908091366"},{"key":"atypb7","volume-title":"RCP-MTP Data Reduction Technical Report No. 43, Patrick Air Force Base, Florida (also designated as AFMTC 58-8)","author":"Brown, D."},{"key":"atypb8","volume-title":"XIIIth Congress of the International Society for Photogrammetry","author":"Brown, D."},{"key":"atypb9","doi-asserted-by":"publisher","DOI":"10.1023\/A:1009715923555"},{"key":"atypb10","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906068375"},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1109\/TIT.1968.1054142"},{"key":"atypb12","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)","author":"Cole, D."},{"key":"atypb13","volume-title":"Proceedings IEEE International Conference on Robotics and Automation (ICRA\u201907)","author":"Cummins, M."},{"key":"atypb14","volume-title":"Proceedings IEEE International Conference on Robotics and Automation (ICRA\u201908)","author":"Cummins, M."},{"key":"atypb15","doi-asserted-by":"publisher","DOI":"10.1177\/0278364908090961"},{"key":"atypb16","volume-title":"Proceedings of Robotics Science and Systems","author":"Cummins, M."},{"key":"atypb17","volume-title":"Bearings-only localization and mapping. PhD Thesis","author":"Deans, M.C.","year":"2005"},{"key":"atypb18","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906072768"},{"key":"atypb19","volume-title":"Proceedings of 19th British Machine Vision Conference","author":"Eade, E."},{"key":"atypb20","volume-title":"Proceedings of Photogrammetric Computer Vision","author":"Engels, C."},{"key":"atypb21","volume-title":"Proceedings of Robotics: Science and Systems","author":"Eustice, R."},{"key":"atypb22","volume-title":"Proceedings 2007 IEEE International Conference on Robotics and Automation","author":"Filliat, D."},{"key":"atypb23","doi-asserted-by":"publisher","DOI":"10.1145\/358669.358692"},{"key":"atypb24","volume-title":"Automatic Camera Recovery for Closed or Open Image Sequences","author":"Fitzgibbon, A.W.","year":"2004"},{"key":"atypb25","volume-title":"Proceedings IJCAI Workshop on Reasoning with Uncertainty in Robotics (RUR 2003)","author":"Frese, U."},{"key":"atypb26","doi-asserted-by":"publisher","DOI":"10.1007\/BF01212430"},{"key":"atypb27","volume-title":"Proceedings of the IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA)","author":"Grisetti, G."},{"key":"atypb28","volume-title":"Multiple View Geometry in Computer Vision","author":"Hartley, R.","year":"2000"},{"key":"atypb29","doi-asserted-by":"publisher","DOI":"10.1023\/A:1014554110407"},{"key":"atypb30","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-006-0020-1"},{"key":"atypb31","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20142"},{"key":"atypb32","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20154"},{"key":"atypb33","volume-title":"An Introduction to Graphical Models (unpublished)","author":"Jordan, M.","year":"2003"},{"key":"atypb34","volume-title":"Proceedings 2007 IEEE International Conference on Robotics and Automation","author":"Konolige, K."},{"key":"atypb35","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2004832"},{"key":"atypb36","doi-asserted-by":"publisher","DOI":"10.1016\/S0262-8856(00)00086-X"},{"key":"atypb37","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Lamon, P."},{"key":"atypb38","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2004637"},{"key":"atypb39","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008854305733"},{"key":"atypb40","doi-asserted-by":"publisher","DOI":"10.1098\/rspb.1980.0020"},{"key":"atypb41","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087097"},{"key":"atypb42","volume-title":"The variable state dimension filter applied to surface-based structure from motion. Technical Report","author":"McLauchlan, P.F.","year":"1999"},{"key":"atypb43","volume-title":"Proceedings of the International Conference on Computer Vision","author":"McLauchlan, P.F."},{"key":"atypb44","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2007941"},{"key":"atypb45","volume-title":"Observations and Least Squares","author":"Mikhail, E.M.","year":"1983"},{"key":"atypb46","doi-asserted-by":"crossref","unstructured":"More, J. ( 1978). The Levenberg-Marquardt Algorithm: Implementation and Theory (Lecture Notes in Mathematics, Vol. 630). Berlin , Springer, pp. 105-116.","DOI":"10.1007\/BFb0067700"},{"key":"atypb47","volume-title":"Proceedings of Computer Vision and Pattern Recognition","author":"Mouragnon, E."},{"key":"atypb48","volume-title":"On the structure and solution of the simultaneous localisation and map building problem. PhD Thesis","author":"Newman, P.","year":"1999"},{"key":"atypb49","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)","author":"Newman, P.M."},{"key":"atypb50","volume-title":"Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition","author":"Nister, D."},{"key":"atypb51","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20103"},{"key":"atypb52","first-page":"2161","volume":"2","author":"Nister, D.","year":"2006","journal-title":"Proceedings of the Conference on Computer Vision and Pattern Recognition"},{"key":"atypb53","volume-title":"Proceedings of the IEEE Conference on Robotics and Automation","author":"Olson, C.F."},{"key":"atypb54","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Olson, E."},{"key":"atypb55","unstructured":"Platt, J. ( 2000). Probabilistic outputs for support vector machines and comparison to regularized likelihood methods. In: Advances in Large Margin Classifiers, A. Smola , P. Bartlett, B. Schoelkopf, and D. Schuurmans (eds), MIT Press, pp. 61-74."},{"key":"atypb56","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2008.08.009"},{"key":"atypb57","volume-title":"Proceedings IEEE International Conference on Computer Vision","author":"Rosten, E."},{"key":"atypb58","volume-title":"IEEE Conference on Computer Vision and Pattern Recognition","author":"Schindler, G."},{"key":"atypb59","volume-title":"Sliding window filters for SLAM. Technical Report CRES-06-004","author":"Sibley, G.","year":"2006"},{"key":"atypb60","volume-title":"A Sliding Window Filter for Incremental SLAM (Lecture Notes in Electrical Engineering, Vol. 8)","author":"Sibley, G.","year":"2007"},{"key":"atypb61","volume-title":"Proceedings of Robotics: Science and Systems","author":"Sibley, G."},{"key":"atypb62","volume-title":"Proceedings of the International Conference on Computer Vision","author":"Sivic, J."},{"key":"atypb63","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909103911"},{"key":"atypb64","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4613-8997-2_14"},{"key":"atypb65","volume-title":"Probabilistic Robotics","author":"Thrun, S.","year":"2005"},{"key":"atypb66","volume-title":"Proceedings of the Workshop on Algorithmic Foundations of Robotics","author":"Thrun, S."},{"key":"atypb67","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906065387"},{"key":"atypb68","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20147"},{"key":"atypb69","doi-asserted-by":"publisher","DOI":"10.1007\/3-540-44480-7_21"},{"key":"atypb70","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087109"},{"issue":"1","key":"atypb71","first-page":"425","volume":"25","author":"Urmson, C.","year":"2008","journal-title":"Part I"},{"key":"atypb72","volume-title":"Proceedings of the International Conference on Robotics and Automation","author":"Wang, J."},{"key":"atypb73","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2004.835453"},{"key":"atypb74","doi-asserted-by":"publisher","DOI":"10.1137\/0602010"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364909341483","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364909341483","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:16:34Z","timestamp":1777457794000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364909341483"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2009,7,21]]},"references-count":74,"journal-issue":{"issue":"11-12","published-print":{"date-parts":[[2009,11]]}},"alternative-id":["10.1177\/0278364909341483"],"URL":"https:\/\/doi.org\/10.1177\/0278364909341483","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2009,7,21]]}}}