DocumentCode
3017061
Title
Indoor SLAM using a range-augmented omnidirectional vision
Author
Cortes, B. Bacca ; Solé, X. Cufí ; Salví, J.
Author_Institution
Univ. del Valle, Univ. of Girona, Girona, Spain
fYear
2011
fDate
6-13 Nov. 2011
Firstpage
280
Lastpage
287
Abstract
A promising combination of sensors as a laser range finder and an omnidirectional camera can be used to extract rich 3D information from indoor environments for robot mapping and localization. This paper presents an implementation of FastSLAM using 3D vertical edges retrieved from a range-augmented omnidirectional vision sensor. Our sensor model in conjunction with the FastSLAM algorithm solves the indoor Simultaneous Localization and Mapping problem. The real world experiment to validate our approach used a Pioneer-3DX mobile robot equipped with a URG-04LX laser range finder and an omnidirectional camera.
Keywords
SLAM (robots); image sensors; laser ranging; mobile robots; robot vision; FastSLAM; Indoor SLAM; Pioneer-3DX mobile robot; URG-04LX laser range finder; omnidirectional camera; range-augmented omnidirectional vision sensor; robot mapping; simultaneous localization and mapping problem; Atmospheric measurements; Buildings; Cameras; Feature extraction; Lasers; Simultaneous localization and mapping;
fLanguage
English
Publisher
ieee
Conference_Titel
Computer Vision Workshops (ICCV Workshops), 2011 IEEE International Conference on
Conference_Location
Barcelona
Print_ISBN
978-1-4673-0062-9
Type
conf
DOI
10.1109/ICCVW.2011.6130254
Filename
6130254
Link To Document