Title :
Stereo vision SLAM based indoor autonomous mobile robot navigation
Author :
Al-Mutib, Khalid N. ; Mattar, Ebrahim A. ; Alsulaiman, Mansour M. ; Ramdane, H.
Author_Institution :
Coll. of Comput. & Inf. Sci. (CCIS), King Saud Univ., Riyadh, Saudi Arabia
Abstract :
This manuscript presents an autonomous navigation of a mobile robot using SLAM, while relying on an active stereo vision. We show a framework of low-level software coding which is necessary when the vision is used for multiple purposes such as obstacle discovery. The built system incorporated a number of SLAM based routines while replying on stereo vision mechanism. The system was implemented and tested on a mobile robot platform, and perform an experiment of autonomous navigation in an indoor environment.
Keywords :
collision avoidance; mobile robots; robot vision; stereo image processing; active stereo vision; indoor autonomous mobile robot navigation; indoor environment; obstacle discovery; software coding; stereo vision SLAM; Mobile robots; Navigation; Simultaneous localization and mapping; Stereo vision; Coding Hierarchy; Mobile robot; SLAM; Stereo vision;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2014 IEEE International Conference on
DOI :
10.1109/ROBIO.2014.7090560
