Bearing only FastSLAM using vertical line information from an omnidirectional camera

Bearing only FastSLAM using vertical line information from an omnidirectional camera

This paper proposes an implementation of Fast-SLAM for localization and mapping for an indoor environment. The system use only the bearing information retrieved from an omnidirectional camera via vertical line segments which are common in an indoor environment. The real world experiment is also pres...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser: Wongphati, M., Niparnan, N., Sudsang, A.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Biomimetics
Cameras
Humans
Indoor environments
localization
Machine vision
mapping
mobile robot
Mobile robots
Omnidirectional camera
Position measurement
Robot sensing systems
Robot vision systems
Simultaneous localization and mapping
SLAM
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Beschreibung
Zusammenfassung:This paper proposes an implementation of Fast-SLAM for localization and mapping for an indoor environment. The system use only the bearing information retrieved from an omnidirectional camera via vertical line segments which are common in an indoor environment. The real world experiment is also presented using Pioneer-DX3 mobile robot moving in a room with several objects.
DOI:10.1109/ROBIO.2009.4913169