Appearance-based mapping and localization using feature stability histograms for mobile robot navigation 

    Bacca Cortés, Eval Bladimir (Date of defense: 2012-06-20)

    This work proposes an appearance-based SLAM method whose main contribution is the Feature Stability Histogram (FSH). The FSH is built using a voting schema, if the feature is re-observed, it will be promoted; otherwise it ...